Holiday release of Astrobee Robot Software.

.gitignore

@@ -64,7 +64,7 @@ Vagrantfile.local
 install
 .vagrant
 
-build
+/build
 arm_build
 arm_build_release
 arm_build_debug

CMakeLists.txt

@@ -18,7 +18,7 @@
 cmake_minimum_required(VERSION 3.0)
 project(Astrobee)
 set(ASTROBEE_VERSION_MAJOR 0)
-set(ASTROBEE_VERSION_MINOR 3)
+set(ASTROBEE_VERSION_MINOR 2)
 
 if ( "${CMAKE_VERSION}" VERSION_GREATER 3.0.0 )
   cmake_policy(SET CMP0045 OLD)
@@ -178,15 +178,38 @@ find_package(Boost 1.54.0 QUIET REQUIRED COMPONENTS filesystem system iostreams
 find_package(Eigen3 REQUIRED)
 find_package(ZLIB)
 find_package(Luajit20 REQUIRED)
-find_package(OpenCV REQUIRED)
+
+# Find OpenCV and fix a 3.3.1 bug
+find_package(OpenCV 3 REQUIRED)
+if (${OpenCV_VERSION} MATCHES "3.3.1")
+  foreach(__cvcomponent ${OpenCV_LIB_COMPONENTS})
+    set (__original_cvcomponent ${__cvcomponent})
+    if(NOT __cvcomponent MATCHES "^opencv_")
+      set(__cvcomponent opencv_${__cvcomponent})
+    endif()
+    if (TARGET ${__cvcomponent})
+      set_target_properties(${__cvcomponent} PROPERTIES
+          MAP_IMPORTED_CONFIG_DEBUG ""
+          MAP_IMPORTED_CONFIG_RELEASE ""
+          MAP_IMPORTED_CONFIG_RELWITHDEBINFO ""
+          MAP_IMPORTED_CONFIG_MINSIZEREL ""
+      )
+    endif()
+  endforeach(__cvcomponent)
+endif()
+set(OpenCV_LIBRARIES ${OpenCV_LIBS})
+
 find_package(dbow2 REQUIRED)
 find_package(Alvar REQUIRED)
 find_package(OpenMVG QUIET REQUIRED)
 find_package(JsonCpp REQUIRED)
+find_package(FFMPEG QUIET) # OPTIONAL
 if (ENABLE_PICOFLEXX)
   find_package(royale REQUIRED)
 endif (ENABLE_PICOFLEXX)
 
+
+
 #find_package(PkgConfig REQUIRED)
 #
 #pkg_check_modules(YAMLCPP REQUIRED yaml-cpp)
@@ -287,17 +310,20 @@ add_custom_target(version DEPENDS ${CMAKE_CURRENT_BINARY_DIR}/version.txt)
 install(CODE "execute_process(COMMAND \"${CMAKE_COMMAND}\" --build \"${CMAKE_CURRENT_BINARY_DIR}\" --target version)")
 install(FILES ${CMAKE_CURRENT_BINARY_DIR}/version.txt DESTINATION ${CMAKE_INSTALL_PREFIX} )
 
+# install the env_wrapper.sh for running on astrobee
+install(PROGRAMS scripts/deploy/env_wrapper.sh DESTINATION ${CMAKE_INSTALL_PREFIX} )
+
 if (USE_ROS)
   add_subdirectory(tools)
   add_subdirectory(astrobee)
   add_subdirectory(communications)
-  add_subdirectory(gnc)
-  add_subdirectory(management)
-  add_subdirectory(mobility)
-  add_subdirectory(procedures)
   if (NOT USE_CTC AND ENABLE_GAZEBO)
     add_subdirectory(simulation)
   endif (NOT USE_CTC AND ENABLE_GAZEBO)
+  add_subdirectory(gnc)
+  add_subdirectory(mobility)
+  add_subdirectory(procedures)
+  add_subdirectory(management)
 endif (USE_ROS)
 
 if (USE_DRIVERS)

INSTALL.md

@@ -43,6 +43,8 @@ Clone the android repository:
 
 Next, install all required dependencies:
 *Note: `root` access is necessary to install the compiled debian packages below*
+*Note: Before running this please ensure that your system is completely updated
+    by running 'sudo apt-get update' and then 'sudo apt-get upgrade'*
 
     pushd $SOURCE_PATH
     cd scripts/setup

NASA_INSTALL.md

@@ -13,6 +13,7 @@ support running Astrobee Robot Software on 32-bit systems.*
 ## Machine setup
 
 #### General notes before running the scripts below
+
 - 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,
@@ -42,7 +43,7 @@ First, clone the flight software repository:
 Next, install all required dependencies:
 
     pushd $SOURCE_PATH
-    cd scripts/platform/desktop
+    cd scripts/setup
     ./add_local_repository.sh
     ./add_ros_repository.sh
     ./install_desktop_16_04_packages.sh
@@ -78,8 +79,8 @@ Next, download the cross toolchain and install the chroot:
 
     mkdir -p $ARMHF_TOOLCHAIN
     cd $HOME/arm_cross
-    $SOURCE_PATH/scripts/platform/fetch_toolchain.sh
-    $SOURCE_PATH/scripts/platform/rootfs/make_xenial.sh dev $ARMHF_CHROOT_DIR
+    $SOURCE_PATH/submodules/platform/fetch_toolchain.sh
+    $SOURCE_PATH/submodules/platform/rootfs/make_xenial.sh dev $ARMHF_CHROOT_DIR
 
 ## Configuring the build
 
@@ -159,9 +160,9 @@ After this command has completed, you should be able to run a simulator from any
 directory in your Linux filesystem. So, for example, to start a simulation of a
 single Astrobee in the Granite Lab, run the following:
 
-    roslaunch astrobee simulator.launch
+    roslaunch astrobee sim.launch
 
-This command tells ROS to look for the `simulation.launch` file provided by the
+This command tells ROS to look for the `sim.launch` file provided by the
 `astrobee` package, and use roslaunch to run it. Internally, ROS maintains a
 cache of information about package locations, libraries and executables. If you
 find that the above command doesn't work, try rebuilding the cache:

README.md

@@ -4,7 +4,7 @@
 
 <p>
 <img src="doc/images/astrobee.png" srcset="../images/astrobee.png 1x" title="Astrobee" align="right" style="display: inline"/>
-Astrobee is a free-flying robot that is designed to operate as a payload inside
+Astrobee is a free-flying robot designed to operate as a payload inside
 the International Space Station (ISS). The Astrobee Robot Software consists of
 embedded (on-board) software, supporting tools and a simulator. The Astrobee
 Robot Software operates on Astrobee's three internal single board computers and
@@ -26,40 +26,32 @@ for creating maps for localization. A separate repository,
 Java API, which uses the ROS messaging system to communicate with flight
 software.
 
-Note that the Astrobee Robot Software is in beta stage. This means that some
-features are missing and some functionalities are incomplete. Please consult
+The Astrobee Robot Software is in a beta stage. This means that some
+features are incomplete, and extensive changes can be expected. Please consult
 [RELEASE](RELEASE.md) for the current list of features and limitations.
 
-## License
+## Usage instructions
 
-Copyright (c) 2017, United States Government, as represented by the
-Administrator of the National Aeronautics and Space Administration.
-All rights reserved.
+If you don't have access to NASA's internal network, please see the
+[usage instructions](INSTALL.md).
 
-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.
+If you do, please see the [NASA usage instructions](NASA_INSTALL.md).
 
-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.
+## Contributors
+
+The Astrobee Robot Software is open source, and we welcome contributions
+from the public. However, for us to merge any pull requests, we must request
+that contributors sign and submit a [Contributor License Agreement](https://www.nasa.gov/sites/default/files/atoms/files/astrobee_individual_contributor_license_agreement.pdf)
+due to NASA legal requirements. Thank you for your understanding.
 
 ## Documentation
-If you would like to generate the astrobee documentation, please run
+To generate the Astrobee documentation, run
 
     doxygen freeflyer.doxyfile
 
 after checking out the code. The documentation will be generated in the doc/html
 folder. Open the index.html to get to the main page of the documentation.
 
-## Usage instructions
-
-If you don't have access to NASA's internal network, please see the
-[usage instructions.](INSTALL.md)
-
-If you do, please see the [NASA usage instructions.](NASA_INSTALL.md)
-
 ## Guest Science
 
 If you are interested in guest science, please do one of the following for more
@@ -73,3 +65,19 @@ located in the `astrobee_android/guest_science 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`.
+
+## License
+
+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.
+

RELEASE.md

@@ -1,7 +1,55 @@
-# Astrobee Robot Software v1, release 0.1.2
+# Astrobee Robot Software v1
 
-## Simulator
-  - Use the same flight software stack that is run on the platform (but the HW drivers)
+## Release 0.2.0
+
+### Simulator
+  - Perching Arm motion (and dynamics) functional
+  - PerchCam and HazCam depth sensors enabled
+  - Improved performance
+
+### Guest Science
+  - Guest Science Manager implementation available on Android
+  - Guest Science library for communication between the manager and guest apps
+  - Executive can command Guest Science apps
+
+### Architecture
+  - GN&C decomposed into three separate ROS nodes for easier customization / extension:
+    - EKF
+    - Control
+    - Force Allocation Module
+  - Management of FlightModes handled on all levels (Exec, Mobility,
+    GN&C and Propulsion)
+
+### Localization
+  - Feature map much smaller
+  - Faster sparse mapping (3Hz on 2 cores only versus 2Hz on 4 cores)
+  - Visualization tool for localization features
+  - Calibration of depth cameras relative to IMU
+
+### Mobility
+  - Fixed 6DoF face-forward bug with the trapezoidal path planner
+  - Asynchronous, state-based mobility and control pipeline with improved debugging output
+  - Multiple speed gains now supported by FAM, with a controlled ramp up/down
+  - Robot now starts in "off" flight mode by default
+  - Asychronous, state-based procedures for
+    - Arm control
+    - Docking and undocking
+    - Perching and unperching
+
+### Executive
+  - Changed to new motion system
+  - Flight mode propagation
+
+### Hardware drivers
+  - Picoflexx driver produces depth images in addition to point clouds
+  - Picoflexx internal core (Royale) driver bumped to v3.9.0 LTS
+  - PMC actuator now determines its state (ramping up/down, ready) based on telemetry feedback
+
+## Release 0.1.2
+
+### Simulator
+  - Use the same flight software stack that is run on the platform (but the HW
+    drivers)
   - Dynamics of the Astrobee using Gazebo at 1KHz
   - One ISS module environment from Gazebo
   - GNC control running at 62.5Hz (same as real platform)
@@ -16,7 +64,7 @@
   - Supports muti-Astrobee simulation (no communication between them)
   - Collision between Astrobee and ISS walls simulated
 
-### Limitations
+#### Limitations
   - No AR target tracking
   - No Handrail detection
   - Depthcam point cloud disabled (efficiency)
@@ -26,15 +74,16 @@
   - No noise in the system
 
 
-## Guest Science
+### Guest Science
   - JAVA API generated from XP-JSON command dictionary
-  - Commands can be send to the Executive using the API and provided ROS Java framework
+  - Commands can be send to the Executive using the API and provided ROS Java
+    framework
 
-### Limitations
+#### Limitations
   - Android framework to support ROS Java in development
   - No guest science manager (life cycle of Guest Science apps)
 
-## Localization
+### Localization
   - Localize without external infrastructure (beacons, etc.)
   - EKF works with following inputs:
     - Sparse mapping with BRISK (regular nav), ~2Hz
@@ -48,7 +97,7 @@
   - Tools to test localization performance from rosbag
   - Custom visualizer (gViz) for EFK inspection
 
-### Limitations
+#### Limitations
   - Sparse mapping runs only at 2Hz (vision processing + feature matching)
   - High distortion limits the usable features
   - Handrail localization needs improvements
@@ -58,7 +107,7 @@
   - No tiling of large maps
   - No perched localization (low power localization when perched)
 
-## Mobility
+### Mobility
   - Provides 4 different motion types:
     - IDLE (drifting)
     - STOP (zeros velocity, hold position if not externally moved)
@@ -68,15 +117,16 @@
     - trapezoidal (default)
     - QP planner
   - Move primitive are position based
-  - Validation of trajectories: stationary end-point, hard limits (velocity and acceleration) and control frequency 
+  - Validation of trajectories: stationary end-point, hard limits (velocity and
+    acceleration) and control frequency
   - Velocity control is not allowed
 
-### Limitations
+#### Limitations
   - On-board validation of trajectories against keep-in and keep-out not enabled
   - Planner type cannot be changed from ground (DDS)
   - Hazard detection not implemented
 
-## Executive
+### Executive
   - Arbitrates commands regarding operating mode and current state
   - Sequencer supports plan execution
   - Supports essential commands (see list of currently supported commands)
@@ -85,26 +135,30 @@
     - Camera management
    - System management
 
-### Limitations
+#### Limitations
   - Full command dictionary is not implemented
   - Guest Science management not supported yet
 
-## Fault Management
-  - Faults are managed in a spreadsheet, converted to a fault table read by the system
+### Fault Management
+  - Faults are managed in a spreadsheet, converted to a fault table read by the
+    system
   - Heart beat monitor for most nodes
   - System monitor framework can trigger responses to published faults
 
-### Limitations
+#### Limitations
   - Very few faults are published
 
-## Framework
+### Framework
   - Leverages ROS framework for on-board framework
-  - All software stack works on Ubuntu 16.04 on Intel and ArmHF (target platform)
+  - All software stack works on Ubuntu 16.04 on Intel and ArmHF (target
+    platform)
   - Dependencies packaged as Debian
   - Software updates delivered as Debian
-  - Unify launch file system supports multiple scenarios, on-robot, simulator or processor in the loop configuration
+  - Unify launch file system supports multiple scenarios, on-robot, simulator or
+    processor in the loop configuration
   - Leverages rViz and Gazebo 7 integration
-  - Improved HTC Vive tracker, calibration procedure and integration for ground truth
+  - Improved HTC Vive tracker, calibration procedure and integration for ground
+    truth
 
-### Limitations
+#### Limitations
   - Documentation is incomplete

astrobee/CMakeLists.txt

@@ -22,9 +22,10 @@ catkin_package(
 )
 
 install(DIRECTORY config/ DESTINATION config)
-install(DIRECTORY resources/ DESTINATION resources)
+# resources will be installed separately
+# install(DIRECTORY resources/ DESTINATION resources)
 
 install_launch_files()
 
 install(PROGRAMS scripts/check_env.sh
-  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})

astrobee/config/communications/dds/.gitignore

@@ -0,0 +1,2 @@
+/NDDS_DISCOVERY_PEERS
+/RAPID_QOS_PROFILES.xml