Release 0.10.4.

Various minor improvements, including sparse mapping histogram correction.
byq-qoir · Feb 10, 2020 · 972b78b · 972b78b
1 parent 70e3df0
commit 972b78b
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diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -18,7 +18,7 @@
 cmake_minimum_required(VERSION 3.0)
 project(Astrobee)
 
-set(ASTROBEE_VERSION 0.10.2)
+set(ASTROBEE_VERSION 0.10.4)
 
 if ( "${CMAKE_VERSION}" VERSION_GREATER 3.0.0 )
   cmake_policy(SET CMP0045 OLD)

diff --git a/INSTALL.md b/INSTALL.md
@@ -125,4 +125,4 @@ If you configured your virtual machine with more than the baseline resources,
 you can adjust the number of threads (eg. -j4) to speed up the build.
 
 For more information on running the simulator and moving the robot, please see
-the [simulation instructions](sim_overview.md).
+the [simulation instructions](simulation/sim_overview.md).
diff --git a/NASA_INSTALL.md b/NASA_INSTALL.md
@@ -135,11 +135,15 @@ At this point you need to decide whether you'd like to compile natively
 the code on the robot itself). Please skip to the relevant subsection.
 
 ### Note for both builds setup
+
 By default, the configure script uses the following paths:
-  - native build path: `$HOME/freeflyer_build/native`
-  - native install path: `$HOME/freeflyer_install/native`
-  - armhf build path: `$HOME/freeflyer_build/armhf`
-  - armhf install path: `$HOME/freeflyer_install/armhf`
+
+  - 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`
+
+You should set these values in your shell. 
 
 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,
@@ -176,7 +180,8 @@ Or with explicit build and install paths:
     ./scripts/configure.sh -a -p $INSTALL_PATH -b $BUILD_PATH
 
 *Warning: `$INSTALL_PATH` and `$BUILD_PATH` used for cross compiling HAVE to be
-different than the paths for native build!*
+different than the paths for native build! See above for the default values 
+for these.*
 
 ## Building the code
 
@@ -217,7 +222,7 @@ find that the above command doesn't work, try rebuilding the cache:
 
 A simulator readme was created for guest science users. However this readme may
 be beneficial to interns and/or new members. If you fall into one of these
-categories, please see the [simulation instructions](sim_overview.md).
+categories, please see the [simulation instructions](simulation/sim_overview.md).
 
 ## Running the code on a real robot
 
@@ -239,6 +244,8 @@ takes the robot name as an argument. Here we use `p4d'.
     ./scripts/install_to_astrobee.sh $INSTALL_PATH p4d
     popd
 
+Here, p4d is the name of the robot, which may be different in your case.
+
 You are now ready to run the code. This code launches a visualization tool,
 which starts the flight software as a background process.
 

diff --git a/RELEASE.md b/RELEASE.md
@@ -1,5 +1,14 @@
 # Astrobee Robot Software v1
 
+## Release 0.10.4
+
+  * Histogram correction for sparse mapping.
+  * Various other minor fixes.
+
+## Release 0.10.3
+
+  * Don't use sparse mapping features more than once.
+
 ## Release 0.10.2
 
   * Perching behavior implemented

diff --git a/astrobee/config/behaviors/light_flow.config b/astrobee/config/behaviors/light_flow.config
@@ -76,11 +76,11 @@ states = {
     },
     {
         id = "SLEEP",
-        file = "hibernate.json"
+        file = "stop_all_lights.json"
     },
     {
         id = "WAKE",
-        file = "power_on.json"
+        file = "stop_all_lights.json"
     },
     {
         id = "STOP_ALL_LIGHTS",

diff --git a/astrobee/config/behaviors/light_flow/power_on.json b/astrobee/config/behaviors/light_flow/power_on.json
@@ -8,7 +8,7 @@
         "$gaugel",
         [
           "ListFrame",
-          ["BasicFrame", "#000", 0.0, 120],
+          ["BasicFrame", "#fff", 0.0, 120],
           ["BasicFrame", "#fff", 120.0, 120]
         ]
       ],
@@ -26,7 +26,7 @@
         "$gauger",
         [
           "ListFrame",
-          ["BasicFrame", "#000", 0.0, 120],
+          ["BasicFrame", "#fff", 0.0, 120],
           ["BasicFrame", "#fff", 120.0, 120]
         ]
       ],

diff --git a/astrobee/config/behaviors/light_flow/stop_all_lights.json b/astrobee/config/behaviors/light_flow/stop_all_lights.json
@@ -6,7 +6,7 @@
       [
         "Define",
         "$complete",
-        ["ListSequence", ["BasicSequence", "#000", 0.0, 0.5, "#000"]]
+        ["ListSequence", ["BasicSequence", "#fff", 0.0, 0.5, "#fff"]]
       ],
       ["Define", "$rptComplete", ["RepeatSequence", "$complete", 1.0]],
       ["Define", "$allLights", ["Domain", ["Interval", 0, 74]]],

diff --git a/astrobee/config/gnc.config b/astrobee/config/gnc.config
@@ -184,7 +184,7 @@ tun_ase_map_error = 0.02
 tun_ase_navcam_inv_focal_length = 1.0 / nav_cam.intrinsic_matrix[1];
 tun_ase_navcam_distortion = nav_cam.distortion_coeff;
 tun_ase_vis_r_mag = 4.0;
-tun_ase_min_ml_meas = 15; --Minumum number of valid features to trigger a ML update
+tun_ase_min_ml_meas = 10; --Minumum number of valid features to trigger a ML update
 
 -- Docking
 tun_ase_dockcam_inv_focal_length = 1.0 / dock_cam.intrinsic_matrix[1];

diff --git a/astrobee/config/hw/signal_lights.config b/astrobee/config/hw/signal_lights.config
@@ -25,4 +25,5 @@ i2c_devices = {
 }
 
 -- Target update rate in hz.
-control_rate_hz = 60
+-- (note: lowering this value reduces CPU usage of the related node)
+control_rate_hz = 20
diff --git a/astrobee/config/localization.config b/astrobee/config/localization.config
@@ -19,11 +19,12 @@ num_similar = 20
 ransac_inlier_tolerance = 5
 ransac_iterations = 100
 early_break_landmarks = 100
+histogram_equalization = 1
 min_features = 200
 max_features = 800
 detection_retries = 1
 num_threads = 2
-min_brisk_threshold = 50.0
-default_brisk_threshold = 75.0
-max_brisk_threshold = 75.0
+min_brisk_threshold = 20.0
+default_brisk_threshold = 90.0
+max_brisk_threshold = 110.0
 
diff --git a/astrobee/config/management/data_bagger.config b/astrobee/config/management/data_bagger.config
@@ -21,7 +21,10 @@
 -- advertised before they can be queried so the data bagger will wait the 
 -- startup_time_secs_ before querying ros.
 
+-- Time used to tell the data bagger how long to wait after startup before
+-- querying the ROS system for the available topics.
 startup_time_secs = 20
+
 bags_save_directory = "/data/bags/"
 bag_size_bytes = 96*1024*1024
 
@@ -46,10 +49,6 @@ default_topics = {{topic="gnc/ctl/traj", downlink="immediate", frequency=-1},
                   {topic="command", downlink="immediate", frequency=-1},
                   {topic="mgt/ack", downlink="immediate", frequency=-1},
                   {topic="mgt/sys_monitor/time_diff", downlink="immediate", frequency=-1},
-                  {topic="/hw/speed_cam/camera_image", downlink="immediate", frequency=-1},
-                  {topic="/hw/speed_cam/imu", downlink="immediate", frequency=-1},
-                  {topic="/hw/speed_cam/optical_flow", downlink="immediate", frequency=-1},
-                  {topic="/hw/speed_cam/speed", downlink="immediate", frequency=-1},
                   {topic="robot_name", downlink="immediate", frequency=-1}}
 
 require "context"
diff --git a/astrobee/config/management/executive.config b/astrobee/config/management/executive.config
@@ -22,6 +22,8 @@ action_active_timeout = 1
 
 led_service_available_timeout = 10
 
+gs_command_timeout = 4
+
 motion_feedback_timeout = 1
 arm_feedback_timeout = 4
 

diff --git a/astrobee/config/robots/wannabee.config b/astrobee/config/robots/wannabee.config
@@ -93,8 +93,8 @@ robot_port_nozzle_calibration = {
 }
 
 -- These are the correct IDs but may need to be switched
-robot_perch_cam_device = "0005-4804-0050-0504"
-robot_haz_cam_device   = "0005-4805-0050-1507"
+robot_perch_cam_device = "0005-4805-0050-1507"
+robot_haz_cam_device   = "0005-4804-0050-0504"
 
 -- Location of the trackers in the body frame
 robot_vive_extrinsics = {

diff --git a/astrobee/gds_configs/DataToDisk/Mob.json b/astrobee/gds_configs/DataToDisk/Mob.json
@@ -266,6 +266,11 @@
       "topicName" : "loc/twist",
       "downlinkOption" : "delayed",
       "frequency" : -1
+    },
+    {
+      "topicName" : "tf",
+      "downlinkOption" : "delayed",
+      "frequency" : -1
     }
   ]
 }
diff --git a/astrobee/gds_configs/DataToDisk/MobDockRAW.json b/astrobee/gds_configs/DataToDisk/MobDockRAW.json
@@ -271,6 +271,36 @@
       "topicName" : "hw/cam_dock",
       "downlinkOption" : "delayed",
       "frequency" : -1
+    },
+    {
+      "topicName" : "hw/speed_cam/camera_image",
+      "downlinkOption" : "delayed",
+      "frequency" : -1
+    },
+    {
+      "topicName" : "hw/speed_cam/imu",
+      "downlinkOption" : "delayed",
+      "frequency" : -1
+    },
+    {
+      "topicName" : "hw/speed_cam/optical_flow",
+      "downlinkOption" : "delayed",
+      "frequency" : -1
+    },
+    {
+      "topicName" : "hw/speed_cam/speed",
+      "downlinkOption" : "delayed",
+      "frequency" : -1
+    },
+    {
+      "topicName": "hw/depth_perch/depth_image",
+      "downlinkOption" : "delayed",
+      "frequency": -1
+    },
+    {
+      "topicName" : "hw/depth_perch/points",
+      "downlinkOption" : "delayed",
+      "frequency" : -1
     }
   ]
 }
diff --git a/astrobee/gds_configs/DataToDisk/MobDockSAMPLED.json b/astrobee/gds_configs/DataToDisk/MobDockSAMPLED.json
@@ -271,6 +271,36 @@
       "topicName" : "mgt/img_sampler/dock_cam/image_record",
       "downlinkOption" : "delayed",
       "frequency" : -1
+    },
+    {
+      "topicName" : "hw/speed_cam/camera_image",
+      "downlinkOption" : "delayed",
+      "frequency" : -1
+    },
+    {
+      "topicName" : "hw/speed_cam/imu",
+      "downlinkOption" : "delayed",
+      "frequency" : -1
+    },
+    {
+      "topicName" : "hw/speed_cam/optical_flow",
+      "downlinkOption" : "delayed",
+      "frequency" : -1
+    },
+    {
+      "topicName" : "hw/speed_cam/speed",
+      "downlinkOption" : "delayed",
+      "frequency" : -1
+    },
+    {
+      "topicName" : "hw/depth_perch/depth_image",
+      "downlinkOption" : "delayed",
+      "frequency" : -1
+    },
+    {
+      "topicName" : "hw/depth_perch/points",
+      "downlinkOption" : "delayed",
+      "frequency" : -1
     }
   ]
 }
diff --git a/astrobee/gds_configs/DataToDisk/MobNavDockRAW.json b/astrobee/gds_configs/DataToDisk/MobNavDockRAW.json
@@ -276,6 +276,56 @@
       "topicName" : "hw/cam_dock",
       "downlinkOption" : "delayed",
       "frequency" : -1
+    },
+    {
+      "topicName" : "hw/speed_cam/camera_image",
+      "downlinkOption" : "delayed",
+      "frequency" : -1
+    },
+    {
+      "topicName" : "hw/speed_cam/imu",
+      "downlinkOption" : "delayed",
+      "frequency" : -1
+    },
+    {
+      "topicName" : "hw/speed_cam/optical_flow",
+      "downlinkOption" : "delayed",
+      "frequency" : -1
+    },
+    {
+      "topicName" : "hw/speed_cam/speed",
+      "downlinkOption" : "delayed",
+      "frequency" : -1
+    },
+    {
+      "topicName" : "hw/depth_haz/depth_image",
+      "downlinkOption" : "delayed",
+      "frequency" : -1
+    },
+    {
+      "topicName" : "hw/depth_haz/points",
+      "downlinkOption" : "delayed",
+      "frequency" : -1
+    },
+    {
+      "topicName" : "hw/depth_haz/extended",
+      "downlinkOption" : "delayed",
+      "frequency" : -1
+    },
+    {
+      "topicName" : "hw/depth_perch/depth_image",
+      "downlinkOption" : "delayed",
+      "frequency" : -1
+    },
+    {
+      "topicName" : "hw/depth_perch/points",
+      "downlinkOption" : "delayed",
+      "frequency" : -1
+    },
+    {
+      "topicName" : "tf",
+      "downlinkOption" : "delayed",
+      "frequency" : -1
     }
   ]
 }
diff --git a/astrobee/gds_configs/DataToDisk/MobNavDockSAMPLED.json b/astrobee/gds_configs/DataToDisk/MobNavDockSAMPLED.json
@@ -276,6 +276,56 @@
       "topicName" : "mgt/img_sampler/dock_cam/image_record",
       "downlinkOption" : "delayed",
       "frequency" : -1
+    },
+    {
+      "topicName" : "hw/speed_cam/camera_image",
+      "downlinkOption" : "delayed",
+      "frequency" : -1
+    },
+    {
+      "topicName" : "hw/speed_cam/imu",
+      "downlinkOption" : "delayed",
+      "frequency" : -1
+    },
+    {
+      "topicName" : "hw/speed_cam/optical_flow",
+      "downlinkOption" : "delayed",
+      "frequency" : -1
+    },
+    {
+      "topicName" : "hw/speed_cam/speed",
+      "downlinkOption" : "delayed",
+      "frequency" : -1
+    },
+    {
+      "topicName" : "hw/depth_haz/depth_image",
+      "downlinkOption"  : "delayed",
+      "frequency" : -1
+    },
+    {
+      "topicName" : "hw/depth_haz/points",
+      "downlinkOption" : "delayed",
+      "frequency" : -1
+    },
+    {
+      "topicName" : "hw/depth_haz/extended",
+      "downlinkOption" : "delayed",
+      "frequency" : -1
+    },
+    {
+      "topicName" : "hw/depth_perch/depth_image",
+      "downlinkOption" : "delayed",
+      "frequency" : -1
+    },
+    {
+      "topicName" : "hw/depth_perch/points",
+      "downlinkOption" : "delayed",
+      "frequency" : -1
+    },
+    {
+      "topicName" : "tf",
+      "downlinkOption" : "delayed",
+      "frequency" : -1
     }
   ]
 }