Release v0.12.0.

 * Localization visualization updates.
 * Preparation for switching to development on github.

.gitignore

@@ -79,9 +79,6 @@ astrobee/config/dds
 
 #zones bin
 astrobee/zones/*.bin
-astrobee/freeflyer/*.bin
-/freeflyer.sublime-project
-/freeflyer.sublime-workspace
 /description/*.tar.gz
 /description/media
 /localization/vive_localization/src/ukf

.gitmodules

@@ -1,12 +1,12 @@
 [submodule "submodules/common"]
 	path = submodules/common
-	url = https://babelfish.arc.nasa.gov/git/astrobee_common
+	url = https://babelfish.arc.nasa.gov/bitbucket/scm/astrobee/astrobee_common.git
 [submodule "submodules/android"]
 	path = submodules/android
-	url = https://babelfish.arc.nasa.gov/git/freeflyer_android
+	url = https://babelfish.arc.nasa.gov/bitbucket/scm/astrobee/astrobee_android.git
 [submodule "submodules/avionics"]
 	path = submodules/avionics
-	url = https://babelfish.arc.nasa.gov/git/freeflyer_avionics
+	url = https://babelfish.arc.nasa.gov/bitbucket/scm/astrobee/astrobee_avionics.git
 [submodule "submodules/platform"]
 	path = submodules/platform
-	url = https://babelfish.arc.nasa.gov/git/freeflyer_platform
+	url = https://babelfish.arc.nasa.gov/bitbucket/scm/astrobee/astrobee_platform.git

CMakeLists.txt

@@ -18,7 +18,7 @@
 cmake_minimum_required(VERSION 3.0)
 project(Astrobee)
 
-set(ASTROBEE_VERSION 0.11.1)
+set(ASTROBEE_VERSION 0.12.0)
 
 if ( "${CMAKE_VERSION}" VERSION_GREATER 3.0.0 )
   cmake_policy(SET CMP0045 OLD)

INSTALL.md

@@ -23,7 +23,7 @@ support running Astrobee Robot Software on 32-bit systems.*
 At this point you need to decide where you'd like to put the source code
 (`SOURCE_PATH`) on your machine:
 
-    export SOURCE_PATH=$HOME/freeflyer
+    export SOURCE_PATH=$HOME/astrobee
 
 First, clone the flight software repository:
 
@@ -76,16 +76,16 @@ Next, install all required dependencies:
 
 ### Note for the build setup
 By default, the configure script uses the following paths:
-  - native build path: `$HOME/freeflyer_build/native`
-  - native install path: `$HOME/freeflyer_install/native`
+  - native build path: `$HOME/astrobee_build/native`
+  - native install path: `$HOME/astrobee_install/native`
 
 If you are satisfied with these paths, you can invoke the `configure.sh` without
 the `-p` and `-b` options. For the simplicity of the instructions below,
 we assume that `$BUILD_PATH` and `$INSTALL_PATH` contain the location of the
 build and install path. For example:
 
-    export BUILD_PATH=$HOME/freeflyer_build/native
-    export INSTALL_PATH=$HOME/freeflyer_install/native
+    export BUILD_PATH=$HOME/astrobee_build/native
+    export INSTALL_PATH=$HOME/astrobee_install/native
 
 ### Native build
 

INSTALL_Ubuntu18.md

@@ -22,7 +22,7 @@ support running Astrobee Robot Software on 32-bit systems.*
 At this point you need to decide where you'd like to put the source code
 (`SOURCE_PATH`) on your machine:
 
-    export SOURCE_PATH=$HOME/freeflyer
+    export SOURCE_PATH=$HOME/astrobee
 
 First, clone the flight software repository:
 
@@ -85,16 +85,16 @@ Install Luajit, it will be installed in /usr/local
 
 ### Note for the build setup
 By default, the configure script uses the following paths:
-  - native build path: `$HOME/freeflyer_build/native`
-  - native install path: `$HOME/freeflyer_install/native`
+  - native build path: `$HOME/astrobee_build/native`
+  - native install path: `$HOME/astrobee_install/native`
 
 If you are satisfied with these paths, you can invoke the `configure.sh` without
 the `-p` and `-b` options. For the simplicity of the instructions below,
 we assume that `$BUILD_PATH` and `$INSTALL_PATH` contain the location of the
 build and install path. For example:
 
-    export BUILD_PATH=$HOME/freeflyer_build/native
-    export INSTALL_PATH=$HOME/freeflyer_install/native
+    export BUILD_PATH=$HOME/astrobee_build/native
+    export INSTALL_PATH=$HOME/astrobee_install/native
 
 ### Native build
 

NASA_INSTALL.md

@@ -75,11 +75,11 @@ exit this session on `m` with <ctrl>+D.
 At this point you need to decide where you'd like to put the source code
 (`SOURCE_PATH`) on your machine:
 
-    export SOURCE_PATH=$HOME/freeflyer
+    export SOURCE_PATH=$HOME/astrobee
 
 First, clone the flight software repository:
 
-    git clone --recursive https://[email protected]/git/freeflyer \
+    git clone --recursive https://[email protected]/bitbucket/scm/astrobee/astrobee.git \
         --branch develop $SOURCE_PATH
 
 (Note: re-enter your username and password for every submodules that are cloned)
@@ -105,7 +105,7 @@ If you prefer to install them at a different location, you can use the
 
 ```
 export NDC_USERNAME=jdoe
-export ARS_DEB_DIR=$HOME/freeflyer_debs
+export ARS_DEB_DIR=$HOME/astrobee_debs
 ./add_local_repository.sh
 ```
 
@@ -138,10 +138,10 @@ the code on the robot itself). Please skip to the relevant subsection.
 
 By default, the configure script uses the following paths:
 
-  - native build path (BUILD_PATH):     `$HOME/freeflyer_build/native`
-  - native install path (INSTALL_PATH): `$HOME/freeflyer_install/native`
-  - armhf build path (BUILD_PATH):      `$HOME/freeflyer_build/armhf`
-  - armhf install path (INSTALL_PATH):  `$HOME/freeflyer_install/armhf`
+  - native build path (BUILD_PATH):     `$HOME/astrobee_build/native`
+  - native install path (INSTALL_PATH): `$HOME/astrobee_install/native`
+  - armhf build path (BUILD_PATH):      `$HOME/astrobee_build/armhf`
+  - armhf install path (INSTALL_PATH):  `$HOME/astrobee_install/armhf`
 
 You should set these values in your shell. 
 

README.md

@@ -52,7 +52,7 @@ To generate the Astrobee documentation, run the following command after checking
 out the code (the latest version of doxygen should be [installed](https://www.doxygen.nl/download.html) for correct
 markdown support) :
 
-    doxygen doc/freeflyer.doxyfile
+    doxygen doc/astrobee.doxyfile
 
 The documentation will be generated in the doc/html folder. Open the doc/documentation.html
 to get to the main page of the documentation.
@@ -86,8 +86,8 @@ information.
 If you are a non-NASA user, please checkout the astrobee_android nasa github
 project (if you followed the usage instructions, you should have checked this
 out already). Once that is checked out, please see
-[`freeflyer_android/README.md`](https://github.com/nasa/astrobee_android/blob/master/README.md)
-located in the `freeflyer_android/` folder.
+[`astrobee_android/README.md`](https://github.com/nasa/astrobee_android/blob/master/README.md)
+located in the `astrobee_android/` folder.
 
 If you are a NASA user, please make sure the `android` submodule was checked out
 and then visit `submodules/android/guest_science_readme.md`.

RELEASE.md

@@ -1,5 +1,10 @@
 # Astrobee Robot Software v1
 
+## Release 0.12.0
+
+  * Localization visualization improvements
+  * Changes for migration to github
+
 ## Release 0.11.1
 
   * Fix install error.
@@ -213,7 +218,7 @@ and many internal changes.
 
 ### Internal (support for non-open source platform and avionics repos)
   - Mechanisms for local (robot) launch at startup.
-  - Support for freeflyer_avionics (firmware) improvements.
+  - Support for astrobee_avionics (firmware) improvements.
   - Smarter management of propulsion modules.
   - Support for Software/Firmware Upgrade, EMI and Network tests.
 

astrobee/config/localization.config

@@ -27,4 +27,6 @@ num_threads = 2
 min_brisk_threshold = 20.0
 default_brisk_threshold = 90.0
 max_brisk_threshold = 110.0
-
+matched_features_on = false
+all_features_on = false
+map_cloud_on = false

astrobee/launch/astrobee.launch

@@ -29,7 +29,9 @@
 
   <!-- Remaining options -->
   <arg name="output" default="log" />         <!-- Output to screen or log   -->
-  <arg name="drivers" default="true" />       <!-- Should we launch drivers? -->
+  <arg name="loc_only" default="false" />     <!-- Only run the localization related nodes -->
+  <arg name="drivers" default="true" unless="$(arg loc_only)" />       <!-- Should we launch drivers? -->
+  <arg name="drivers" value="false" if="$(arg loc_only)" />       <!-- Should we launch drivers? -->
   <arg name="sim" default="local" />          <!-- SIM IP address            -->
   <arg name="llp" default="local" />          <!-- LLP IP address            -->
   <arg name="mlp" default="local" />          <!-- MLP IP address            -->
@@ -61,6 +63,9 @@
   <env if="$(eval optenv('ROSCONSOLE_CONFIG_FILE','')=='')"
        name="ROSCONSOLE_CONFIG_FILE" value="$(find astrobee)/resources/logging.config"/>
 
+  <!-- Use time from bag file -->
+  <param name="use_sim_time" value="true" if="$(arg loc_only)"/>
+
   <!-- Launch the platform on its own namespace -->
   <group ns="/$(arg ns)">
 
@@ -73,14 +78,16 @@
 
     <!-- If we need to load synthetic drivers (we are not running on a real robot) -->
     <!-- TODO(asymingt) - pass nodes, spurn and extra into gazebo                  -->
-    <include unless="$(arg drivers)"
+    <group unless="$(arg loc_only)">
+      <include unless="$(arg drivers)"
              file="$(find astrobee)/launch/controller/synthetic.launch">
-      <arg name="world" value="$(arg world)" />   <!-- World name                -->
-      <arg name="ns" value="$(arg ns)" />         <!-- Robot namespace           -->
-      <arg name="sim" value="$(arg sim)" />       <!-- SIM IP address            -->
-      <arg name="pose" value="$(arg pose)" />     <!-- Initial pose (sim only)   -->
-      <arg name="bag" value="$(arg bag)" />       <!-- Bag to replay             -->
-    </include>
+        <arg name="world" value="$(arg world)" />   <!-- World name                -->
+        <arg name="ns" value="$(arg ns)" />         <!-- Robot namespace           -->
+        <arg name="sim" value="$(arg sim)" />       <!-- SIM IP address            -->
+        <arg name="pose" value="$(arg pose)" />     <!-- Initial pose (sim only)   -->
+        <arg name="bag" value="$(arg bag)" />       <!-- Bag to replay             -->
+      </include>
+    </group>
 
     <!-- LLP -->
     <group unless="$(eval arg('llp')=='disabled')">
@@ -113,6 +120,7 @@
         <arg name="extra" value="$(arg extra)" />      <!-- Inject extra nodes   -->
         <arg name="debug" value="$(arg debug)" />      <!-- Debug node group     -->
         <arg name="output" value="$(arg output)" />
+        <arg name="loc_only" value="$(arg loc_only)" />
       </include>
 
       <!-- If we have specified a bag, then play it back into flight software-->
@@ -152,6 +160,7 @@
         <arg name="extra" value="$(arg extra)" />      <!-- Inject extra nodes   -->
         <arg name="debug" value="$(arg debug)" />      <!-- Debug node group     -->
         <arg name="output" value="$(arg output)" />
+        <arg name="loc_only" value="$(arg loc_only)" />
       </include>
 
       <!-- If we have specified a bag, then play it back into flight software-->
@@ -161,4 +170,11 @@
 
   </group>
 
+  <group if="$(arg loc_only)">
+    <node pkg="rosbag" type="play" name="player" output="log" args="--clock $(arg bag)">
+      <remap from="mgt/img_sampler/nav_cam/image_record" to="/hw/cam_nav"/>>
+    </node>
+    <node pkg="rosservice" type="rosservice" name="imu_calibration" args="call --wait /gnc/ekf/init_bias" />
+  </group>
+
 </launch>

astrobee/launch/robot/LLP.launch

@@ -24,23 +24,27 @@
   <arg name="extra" default=""/>              <!-- Inject an additional node -->
   <arg name="debug" default=""/>                 <!-- Debug a node set          -->
   <arg name="output" default="log"/>          <!-- Where to log              -->
+  <arg name="loc_only" default="false"/>           <!-- Only run localization     -->
+
 
   <!-- Launch all nodelet managers -->
   <group if="$(eval optenv('ASTROBEE_NODEGRAPH','')=='')">
     <node pkg="nodelet" type="nodelet" args="manager"
           name="llp_gnc" output="$(arg output)"/>
-    <node pkg="nodelet" type="nodelet" args="manager"
+    <group unless="$(arg loc_only)">
+      <node pkg="nodelet" type="nodelet" args="manager"
           name="llp_monitors" output="$(arg output)"/>
-    <node pkg="nodelet" type="nodelet" args="manager"
+      <node pkg="nodelet" type="nodelet" args="manager"
           name="llp_i2c" output="$(arg output)"/>
-    <node pkg="nodelet" type="nodelet" args="manager"
+      <node pkg="nodelet" type="nodelet" args="manager"
           name="llp_serial" output="$(arg output)"/>
-    <node pkg="nodelet" type="nodelet" args="manager"
+      <node pkg="nodelet" type="nodelet" args="manager"
           name="llp_pmc" output="$(arg output)"/>
-    <node pkg="nodelet" type="nodelet" args="manager"
+      <node pkg="nodelet" type="nodelet" args="manager"
           name="llp_imu" output="$(arg output)"/>
-    <node pkg="nodelet" type="nodelet" args="manager"
+      <node pkg="nodelet" type="nodelet" args="manager"
           name="llp_lights" output="$(arg output)"/>
+    </group>
   </group>
 
   <!-- Launch GNC nodes -->
@@ -54,26 +58,28 @@
     <arg name="debug" value="$(arg debug)" />
     <arg name="default" value="true" />
   </include>
-  <include file="$(find ff_util)/launch/ff_nodelet.launch">
-    <arg name="class" value="ctl/ctl" />
-    <arg name="name" value="ctl_node" />
-    <arg name="manager" value="llp_gnc" />
-    <arg name="spurn" value="$(arg spurn)" />
-    <arg name="nodes" value="$(arg nodes)" />
-    <arg name="extra" value="$(arg extra)" />
-    <arg name="debug" value="$(arg debug)" />
-    <arg name="default" value="true" />
-  </include>
-  <include file="$(find ff_util)/launch/ff_nodelet.launch">
-    <arg name="class" value="fam/fam" />
-    <arg name="name" value="fam_node" />
-    <arg name="manager" value="llp_gnc" />
-    <arg name="spurn" value="$(arg spurn)" />
-    <arg name="nodes" value="$(arg nodes)" />
-    <arg name="extra" value="$(arg extra)" />
-    <arg name="debug" value="$(arg debug)" />
-    <arg name="default" value="true" />
-  </include>
+  <group unless="$(arg loc_only)">
+    <include file="$(find ff_util)/launch/ff_nodelet.launch">
+      <arg name="class" value="ctl/ctl" />
+      <arg name="name" value="ctl_node" />
+      <arg name="manager" value="llp_gnc" />
+      <arg name="spurn" value="$(arg spurn)" />
+      <arg name="nodes" value="$(arg nodes)" />
+      <arg name="extra" value="$(arg extra)" />
+      <arg name="debug" value="$(arg debug)" />
+      <arg name="default" value="true" />
+    </include>
+    <include file="$(find ff_util)/launch/ff_nodelet.launch">
+      <arg name="class" value="fam/fam" />
+      <arg name="name" value="fam_node" />
+      <arg name="manager" value="llp_gnc" />
+      <arg name="spurn" value="$(arg spurn)" />
+      <arg name="nodes" value="$(arg nodes)" />
+      <arg name="extra" value="$(arg extra)" />
+      <arg name="debug" value="$(arg debug)" />
+      <arg name="default" value="true" />
+    </include>
+  </group>
 
   <!-- Launch driver nodes, if required -->
   <group if="$(arg drivers)">