Cyecca Notebooks

Interactive Jupyter notebooks demonstrating cyecca library usage for estimation, control, and path planning.

Setup

Option 1: VS Code (Recommended)

1. Install the Python and Jupyter extensions
2. Open any .ipynb file in VS Code
3. Select the Python kernel when prompted
4. VS Code will prompt to install dependencies - click "Install" or manually run:

   pip install -r requirements.txt

With ROS workspace:

1. Run the kernel setup script (creates venv_ros, installs dependencies, and configures the kernel):

   ./scripts/setup_kernel.sh

2. In VS Code, open a notebook and select the kernel:

   • Click on the kernel name in the top right corner of the notebook
   • Select "Cyecca (ROS)" from the list

3. The notebook will now use the cyecca version from your ROS workspace at ../../install/

Option 2: Jupyter Lab (Automated)

# Standalone - installs cyecca from PyPI
./scripts/run_notebooks.sh

# With ROS 2 - uses workspace cyecca
source /path/to/ros_ws/install/setup.bash
./scripts/run_notebooks.sh

Option 3: Manual Setup

# Create virtual environment (Ubuntu 24.04+)
python3 -m venv venv
source venv/bin/activate

# Install dependencies
pip install -r requirements.txt

# Launch Jupyter
jupyter lab

Notes

• VS Code: Python path from ROS workspace (if sourced) takes precedence
• Ubuntu 24.04+: Use python3 -m venv venv for isolated environment if needed
• Most users can just open notebooks in VS Code and install dependencies when prompted

Contents

• estimation/ - State estimation examples
• ins/ - Inertial navigation system notebooks
• lie/ - Lie group examples
• path_planning/ - Path planning demonstrations
• sim/ - Simulation examples

Dependencies

• cyecca (install from ROS workspace or pip install cyecca)
• jupyter
• matplotlib
• numpy