Advanced Robotics (INFR112132022) tutorials

These are code snippets made to go along with the lectures for ARO.

Set up

On a DICE machine

On DICE, we will clone the Lecture code repository and install the required dependencies to run the tutorials. You can "clone" the project to a local folder of your choice. Open a terminal (CTRL + ALT + T) and follow the commands below:

• Move to home directory.

cd ~

• Create the aro directory if not already done

mkdir -p aro && cd aro

• Clone the tutorials inside your home directory.

git clone https://github.com/ediadvancedrobotics/lecturecode/

• Install dependencies

python -m pip install -r requirements.txt

You should be done! See below to check that your installation is working

Linux, Python 3, PyPI

On a Linux system with Python 3.8, you can get the dependencies directly with +pip (see installation procedure and update below):

python3 -m pip install -r requirements.txt

NB: you should consider using a virtualenv

Once you have the dependencies, you can start the server with jupyter notebook

Using Docker

TBD...

Using and updating the notebooks

Running a notebook

On your terminal, cd into the tutorials folder:

cd  ~/aro/tutorials/

Now run Jupyter notebook with the command

jupyter notebook .

Click on '0_introduction_to_numerical_robotics.ipynb' to open the first notebook.

Editing the notebook and updates

To avoid conflicts (see right after), it is recommended to make a local copy of a notebook before working on it.

If the repository changes (for example when new tutorials are pushed / a bug has been found), you will need to update your local version by "pulling" it from the repository. On a native installation, just go in the folder containing the tutorials and execute git pull

Side notes

Installing pip

Pip is a tool for installing and managing Python packages. You can install it with

sudo apt install python3-pip

The default version of +pip installed by +apt is not up to date, so upgrade it with

python3 -m pip install --upgrade --user

In general, running +pip is likely to run an alias on +pip in /usr, so either run it through python3 as explained above, or make sure your path select the right pip executable in your ~/.local. The option --user is kind of optional for recent +pip version, but removing it should work with a warning.