forked from nasa/astrobee
-
Notifications
You must be signed in to change notification settings - Fork 0
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
* Perching behavior implemented * Localization sparse mapping timeout increased to 10 minutes * Already there tolerances decreased to allow for smaller moves * Other minor bug fixes/software improvements
- Loading branch information
Showing
408 changed files
with
30,510 additions
and
6,425 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,28 +1,55 @@ | ||
| s# Usage instructions for NASA users | ||
| # Usage instructions for NASA users | ||
|
|
||
| Install the 64-bit version of [Ubuntu 16.04](http://releases.ubuntu.com/16.04) | ||
| on a host machine, and make sure that you can checkout and build code. | ||
| If you are using a virtual machine, please use VMware. Virtualbox doesn't | ||
| support some of our Gazebo plugins. | ||
| Install the 64-bit version of | ||
| [Ubuntu16.04](http://releases.ubuntu.com/16.04) on a host machine, and | ||
| make sure that you can checkout and build code. If you are using a | ||
| virtual machine, please use VMware. Virtualbox doesn't support some of | ||
| our Gazebo plugins. | ||
|
|
||
| sudo apt-get install build-essential git | ||
|
|
||
| *Note: Please ensure you install the 64-bit version of Ubuntu. We do not | ||
| support running Astrobee Robot Software on 32-bit systems.* | ||
|
|
||
| ## Machine setup | ||
| ## Computer setup | ||
|
|
||
| #### General notes before running the scripts below | ||
| ### Username | ||
|
|
||
| If you are using a VM with a username that does not match your NDC username, | ||
| please configure the following variable: | ||
|
|
||
| export NDC_USERNAME=your_ndc_username | ||
|
|
||
|
|
||
| ### Access to the Astrobee Debian server | ||
|
|
||
| The custom debian packages are currently distributed by the | ||
| `astrobee.ndc.nasa.gov server`. This server is currently on the ARC TI | ||
| private network. It is *critical* to be able to reach this server to | ||
| install the pre-built custom debian. If none of the solutions below | ||
| allow you to reach `astrobee.ndc.nasa.gov`, you can use the | ||
| instructions on how to build the Debian dependencies manually | ||
| following the INSTALL.md instructions (Dependencies section). | ||
|
|
||
| #### If on the ARC TI private network | ||
|
|
||
| This is the typical case for all wired computers in ARC TI, and simplifies | ||
| your life greatly. | ||
|
|
||
| Verify that you are in this situation with the command below should succeed | ||
| (remove the Release.gpg file after being fetched). | ||
|
|
||
| wget -v http://astrobee.ndc.nasa.gov/software/dists/xenial/Release.gpg | ||
|
|
||
| Before running the scripts in `scripts/setup` below, set this variable: | ||
|
|
||
| export NO_TUNNEL=1 | ||
|
|
||
| #### If not on the ARC TI private network | ||
|
|
||
| If you are outside the NASA ARC private network, there are two options to | ||
| reach `astrobee.ndc.nasa.gov`: | ||
|
|
||
| - The custom debian packages are currently stored on the "volar" server. So you | ||
| need to have credentials on `volar` to run these scripts. | ||
| - If you are using a VM with a username that does not match your NDC username, | ||
| you have two options: | ||
| 1. Set correctly the environment variable `NDC_USERNAME` with your NASA NDC | ||
| username. | ||
| 2. Or set a ssh config that specify the right username for volar. | ||
| - If you are outside the NASA ARC private network, there are two options to get | ||
| to volar: | ||
| 1. Use VPN to act like if you were inside the ARC TI private network and | ||
| obtain the correct kerberos credentials inside the VM with the following | ||
| command (note the capitalization): | ||
|
|
@@ -31,7 +58,17 @@ kinit [email protected]` | |
| ``` | ||
| 2. setup your `.ssh/config` to do ssh forwarding. A tutorial on this method | ||
| is available at: https://babelfish.arc.nasa.gov/trac/freeflyer/wiki/SSHSetup | ||
| - These notes apply to `add_local_repository.sh` and `make_xenial.sh` | ||
|
|
||
| For either solution, please verify that you can SSH to `m.ndc.nasa.gov` without | ||
| entering your password (`m` is used to tunnel to `astrobee.ndc.nasa.gov`): | ||
|
|
||
| ssh $[email protected] | ||
|
|
||
| The command should succeed without entering your password. Once this is verified, | ||
| exit this session on `m` with <ctrl>+D. | ||
|
|
||
| - These notes apply to `install_desktop_16.04_packages.sh` and `make_xenial.sh` | ||
|
|
||
|
|
||
| ### Checkout the project source code | ||
|
|
||
|
|
@@ -42,9 +79,11 @@ At this point you need to decide where you'd like to put the source code | |
|
|
||
| First, clone the flight software repository: | ||
|
|
||
| git clone --recursive https://$USER@babelfish.arc.nasa.gov/git/freeflyer \ | ||
| git clone --recursive https://$NDC_USERNAME@babelfish.arc.nasa.gov/git/freeflyer \ | ||
| --branch develop $SOURCE_PATH | ||
|
|
||
| (Note: re-enter your username and password for every submodules that are cloned) | ||
|
|
||
| ### Dependencies | ||
|
|
||
| Next, install all required dependencies: | ||
|
|
||
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,93 @@ | ||
| -- Copyright (c) 2017, United States Government, as represented by the | ||
| -- Administrator of the National Aeronautics and Space Administration. | ||
| -- | ||
| -- All rights reserved. | ||
| -- | ||
| -- The Astrobee platform is licensed under the Apache License, Version 2.0 | ||
| -- (the "License"); you may not use this file except in compliance with the | ||
| -- License. You may obtain a copy of the License at | ||
| -- | ||
| -- http://www.apache.org/licenses/LICENSE-2.0 | ||
| -- | ||
| -- Unless required by applicable law or agreed to in writing, software | ||
| -- distributed under the License is distributed on an "AS IS" BASIS, WITHOUT | ||
| -- WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the | ||
| -- License for the specific language governing permissions and limitations | ||
| -- under the License. | ||
|
|
||
| folder = "/opt/astrobee/config/behaviors/light_flow/" | ||
|
|
||
| states = { | ||
| { | ||
| id = "VIDEO_ON", | ||
| file = "moving.json" | ||
| }, | ||
| { | ||
| id = "VIDEO_OFF", | ||
| file = "moving.json" | ||
| }, | ||
| { | ||
| id = "SUCCESS", | ||
| file = "success.json" | ||
| }, | ||
| { | ||
| id = "ENTER_HATCHWAY", | ||
| file = "moving.json" | ||
| }, | ||
| { | ||
| id = "UNDOCK", | ||
| file = "success.json" | ||
| }, | ||
| { | ||
| id = "UNPERCH", | ||
| file = "moving.json" | ||
| }, | ||
| { | ||
| id = "MOTION_IMPAIRED", | ||
| file = "failiure.json" | ||
| }, | ||
| { | ||
| id = "THRUST_FORWARD", | ||
| file = "moving.json" | ||
| }, | ||
| { | ||
| id = "THRUST_AFT", | ||
| file = "moving.json" | ||
| }, | ||
| { | ||
| id = "TURN_RIGHT", | ||
| file = "turning_left.json" | ||
| }, | ||
| { | ||
| id = "TURN_LEFT", | ||
| file = "turning_left.json" | ||
| }, | ||
| { | ||
| id = "TURN_UP", | ||
| file = "turning_up.json" | ||
| }, | ||
| { | ||
| id = "TURN_DOWN", | ||
| file = "turning_down.json" | ||
| }, | ||
| { | ||
| id = "CLEAR", | ||
| file = "turning_down.json" | ||
| }, | ||
| { | ||
| id = "SLEEP", | ||
| file = "hibernate.json" | ||
| }, | ||
| { | ||
| id = "WAKE", | ||
| file = "power_on.json" | ||
| }, | ||
| { | ||
| id = "STOP_ALL_LIGHTS", | ||
| file = "stop_all_lights.json" | ||
| }, | ||
| { | ||
| id = "CHARGING", | ||
| file = "charging.json" | ||
| } | ||
| } |
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,39 @@ | ||
| { | ||
| "procedure": [ | ||
| [ | ||
| "Procedure", | ||
| "audio1", | ||
| [ | ||
| "Define", | ||
| "$breath", | ||
| ["ListSequence", ["BasicSequence", "#fff", 0.0, 10, "#fff"]] | ||
| ], | ||
| ["Define", "$rptBreath", ["RepeatSequence", "$breath", 10.0]], | ||
| ["Define", "$pointLights", ["Domain", ["Interval", 27, 2]]], | ||
| ["Return", ["BasicAnimation", "$pointLights", "$rptBreath"]] | ||
| ], | ||
|
|
||
| [ | ||
| "Procedure", | ||
| "audio2", | ||
| [ | ||
| "Define", | ||
| "$breath", | ||
| ["ListSequence", ["BasicSequence", "#fff", 0.0, 10, "#fff"]] | ||
| ], | ||
| ["Define", "$rptBreath", ["RepeatSequence", "$breath", 10.0]], | ||
| ["Define", "$pointLights", ["Domain", ["Interval", 29, 2]]], | ||
| ["Return", ["BasicAnimation", "$pointLights", "$rptBreath"]] | ||
| ] | ||
| ], | ||
| "state": [ | ||
| "ExecState", | ||
| 1.0, | ||
| 30.0, | ||
| true, | ||
| [ | ||
| ["Call", "right", "audio1", "#fff", 1.0], | ||
| ["Call", "left", "audio2", "#fff", 1.0] | ||
| ] | ||
| ] | ||
| } |
Oops, something went wrong.