Release 0.5.0.

Build 3 - CERT Release. Prepared for CERT testing and upgraded
simulator.

CMakeLists.txt

@@ -1,14 +1,14 @@
 # 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
@@ -18,7 +18,7 @@
 cmake_minimum_required(VERSION 3.0)
 project(Astrobee)
 set(ASTROBEE_VERSION_MAJOR 0)
-set(ASTROBEE_VERSION_MINOR 4)
+set(ASTROBEE_VERSION_MINOR 5)
 
 if ( "${CMAKE_VERSION}" VERSION_GREATER 3.0.0 )
   cmake_policy(SET CMP0045 OLD)
@@ -287,6 +287,7 @@ include(CreateRosTestTargets)
 include(CreateTestTargets)
 include(CreateToolTargets)
 include(ExternalProjects)
+include(FetchContent)
 include(InstallLaunchFiles)
 
 add_subdirectory(external)

INSTALL.md

@@ -58,6 +58,9 @@ Next, install all required dependencies:
     rosdep update
     popd
 
+### Have System Monitor Ignore DDS ROS Bridge
+Since external users do not have access to our internal dds repository, they will not be running or compiling our DDS ROS Bridge. The system monitor needs to be told that the bridge isn't running so that it doesn't assert bridge heartbeat missed faults. In order to do this, please open $SOURCE_PATH/astrobee/config/robots/sim.config and add "dds_ros_bridge" to the nodes_not_running list the end of the file. If an external user doesn't do this, they will see a "Never received heartbeat from dds_ros_bridge" error which will not cause any issues but can be slightly annoying.
+
 ## Configuring the build
 
 ### Note for the build setup

README.md

@@ -60,7 +60,7 @@ 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
-[`guest_science/readme.md`](https://github.com/nasa/astrobee_android/blob/HEAD/guest_science/readme.md)
+[`guest_science/readme.md`](https://github.com/nasa/astrobee_android/blob/master/guest_science/README.md)
 located in the `astrobee_android/guest_science folder`.
 
 If you are a NASA user, please make sure the `android` submodule was checked out

RELEASE.md

@@ -1,5 +1,12 @@
 # Astrobee Robot Software v1
 
+## Release 0.5.0
+
+Build 3 - CERT Release
+
+  - Everything ready for CERT testing
+  - Improved simulator
+
 ## Release 0.4.5
 
 Updated external user install instructions.

astrobee/config/cameras.config

@@ -94,15 +94,22 @@ picoflexx = {
       topic = "perch",                  -- frame
       device = robot_perch_cam_device,  -- camera uuid ("" : automatic)
       exposure = 0,                     -- exposure time (0: automatic)
-      mode = "MODE_9_5FPS_2000"         -- use case
+      mode = "MODE_9_5FPS_2000",        -- use case
+      required = true                   -- is camera required
     },{
       name = "haz_cam",                 -- frame
       topic = "haz",                    -- frame
       device = robot_haz_cam_device,    -- camera uuid ("" : automatic)
       exposure = 0,                     -- exposure time (0: automatic)
-      mode = "MODE_9_5FPS_2000"         -- use case
+      mode = "MODE_9_5FPS_2000",        -- use case
+      required = true                   -- is camera required
+    },{
+      name = "test_cam",                -- special name
+      topic = "test",                   -- frame
+      device = "0005-4805-0050-1520",   -- camera uuid ("" : automatic)
+      exposure = 0,                     -- exposure time (0: automatic)
+      mode = "MODE_5_45FPS_500",        -- use case
+      required = false                  -- is camera required
     }
   }
 }
-
-

astrobee/config/communications/dds_ros_bridge.config

@@ -120,6 +120,10 @@ pub_topic_RGCTRGCT = "-traj"
 use_RGSRGS = true
 pub_topic_RGSRGS = ""
 
+-- ros_log_rapid_log_sample => RLRLS --
+use_RLRLS = true
+pub_topic_RLRLS = ""
+
 -- ros_odom_rapid_position => RORP --
 use_RORP = true
 pub_topic_RORP = ""
@@ -128,19 +132,25 @@ pub_topic_RORP = ""
 use_RPSRPS = true
 pub_topic_RPSRPS = ""
 
+-- ros_pmc_cmd_state_rapid_pmc_cmd_state => RPCSRPCS --
+use_RPCSRPCS = true
+pub_topic_RPCSRPCS = ""
+
 -- ros_string_rapid_text_message => RSRTM --
 use_RSRTM = false
 
 -- ros_telemetry_rapid_telemetry => RTRT --
 use_RTRT = true
 pub_topic_RTRT = ""
 
+
 comm_status_rate = 1
 cpu_state_rate = 0
 disk_state_rate = 1
 ekf_state_rate = 0
 gnc_state_rate = 0
 position_rate = 30
+pmc_command_rate = 0
 
 battery_time_round_to_multiple = 10;
 

astrobee/config/dock_markers_world.config

@@ -0,0 +1,120 @@
+-- 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.
+
+--[[
+  Computes the locations of the AR markers on the dock in World
+  frame from the location of the makers defined on the target plate.
+
+  AR targets are currently caraterized by the positions of three
+  corners. The naming refering the a coordinate system attached
+  to the marker itself when printed using generate_svg_markers:
+    - top left
+    - top right
+    - bottom left
+
+  The markers (from dock_markers_specs.config) are expressed in a 2D coordinate
+  system facilitating the printing (X to the right, Y going down).
+
+  We define a dock frame as follow:
+    - origin: coincide with the origin of the target drawing
+      (mid-point between the two berth bases)
+    - X normal to the target plate, positive in the egress
+      direction
+    - Z along the short side of the target plate, positive down (if
+      looking at the drawing)
+    - Y is thus
+
+  We start by placing the markers from the drawing coordinates
+  into the dock frame. Then we apply a transform to find the
+  marker coordinates in world frame by using the dock location in the world.
+
+  The dock location is defined in the "world" config with:
+    - world_dock_position
+    - world_dock_orientation
+  If using this file without a context + world, these two variable should be
+  first defined.
+
+--]]
+
+require "context"
+require "rotations"
+local matrix = require 'matrix'
+
+require "dock_markers_specs"
+
+-- Compute the corners of a marker in dock frame in function of its
+-- size and position in 2D target frame
+function marker_corners(m, scale)
+  -- express corners in dock frame (see intro)
+  top_left = scale * matrix{0.0, -m['pos'][1], m['pos'][2]}
+  top_right = top_left + scale * matrix{0.0, -m['size'], 0.0}
+  bottom_left = top_left + scale * matrix{0.0, 0.0, m['size']}
+  return top_left, top_right, bottom_left
+end
+
+-- Units transformation
+if ( drawing_unit == "mm") then
+  -- print("tagets drawing expressed in millimeters")
+  scale_factor = 0.001
+elseif ( drawing_unit =="in") then
+  -- print("targets drawing are expressed in inches")
+  scale_factor = 0.0254
+else
+  print("Warning: targets drawing unit not defined or not recognized")
+  print("         assume meters")
+  scale_factor = 1.0
+end
+
+
+-- Processing
+markers_world = {}
+for k,v in pairs(markers) do
+  marker_in_world = {}
+  top_left, top_right, bottom_left = marker_corners(v, scale_factor)
+  marker_in_world['id'] = v['id']
+  -- Edited by Andrew to put dock markers in DOCK frame not WORLD frame, since
+  -- the EKF now works in a local frame AND that having the features in the
+  -- DOCK frame allows us to use the feature messages for etrinsic calibration.
+  top_left_world = top_left
+  top_right_world = top_right
+  bottom_left_world = bottom_left
+  -- corners results are in Matrix form, transpose them back into a table
+  marker_in_world['top_left'] = {
+    top_left_world[1][1], top_left_world[2][1], top_left_world[3][1] }
+  marker_in_world['top_right'] = {
+    top_right_world[1][1], top_right_world[2][1], top_right_world[3][1] }
+  marker_in_world['bottom_left'] = {
+    bottom_left_world[1][1], bottom_left_world[2][1], bottom_left_world[3][1] }
+  table.insert(markers_world, marker_in_world)
+end
+
+--[[
+-- Simple utility function to print a 3x1 matrix as a vector
+function print_vec3(v, str)
+  -- TODO should check the size first
+  print(string.format("%s=(%.3f, %.3f, %.3f)",
+    str, v[1], v[2], v[3]))
+end
+
+for k,v in pairs(markers_world) do
+  print("-------- marker", k)
+  print(string.format("id=%d", v['id']))
+  print_vec3(v['top_left'], "top_left")
+  print_vec3(v['top_right'], "top_right")
+  print_vec3(v['bottom_left'], "bottom_left")
+end
+--]]

astrobee/config/geometry.config

@@ -70,7 +70,7 @@ function berth_transform(sign, tilt)
 end
 
 -- Various constants for docking
-freeflyer_length = 0.150
+freeflyer_length = 0.163
 freeflyer_reach  = 0.150
 approach_dist    = 0.500
 

astrobee/config/hw/eps_driver.config

@@ -37,6 +37,7 @@ en_srv_clear_terminate  = true
 
 -- Configure telemetry information
 en_pub_housekeeping = true
+en_pub_power = true
 en_pub_battery_status = true
 en_pub_dock_state = true
 dock_check_rate = 5

astrobee/config/hw/pmc_actuator.config

@@ -31,7 +31,8 @@ i2c_bus_file = "/dev/i2c-2"
 
 -- 7-bit I2C addresses for the PMCs
 -- Users should provide 'num_pmcs' (or more) addresses for all PMCs
-i2c_addrs = {0x20, 0x21}
+-- Order switched to work on CERT
+i2c_addrs = {0x21, 0x20}
 
 -- Number of I2C retries when device not acknowledging
 i2c_retries = 3

astrobee/config/mobility/choreographer.config

@@ -15,7 +15,8 @@
 -- License for the specific language governing permissions and limitations
 -- under the License.
 
--- Declare the variables above as reconfigurable
+require "context"
+
 parameters = {
   -- PLANNING
   {
@@ -44,7 +45,7 @@ parameters = {
     -- mapper prior to being executed. This avoids us from applying control
     -- that drives us into keep-in zones or obstacles.
     id = "enable_validation", reconfigurable = true, type = "boolean",
-    default = false, unit = "boolean",
+    default = true, unit = "boolean",
     description = "Should we validate segments before executing them"
   },{
     -- In the case of an EXECUTE command the platform's pose might not
@@ -142,6 +143,22 @@ parameters = {
     default = 1.0, min = 1.0, max = 62.5, unit = "rad/s/s",
     description = "Desired control frequency"
   },
+  -- ALREADY THERE TOLERANCES
+  {
+    -- When a move request is made we need to check if the sequence of poses
+    -- are close to our current pose. In this case we don't have to plan or
+    -- even move, and we return an ALREADY_THERE success response.
+    id = "tolerance_pos", reconfigurable = true, type = "double",
+    default = 0.05, min = 0.0, max = 1.0, unit = "m",
+    description = "Position tolerance for checking if we are already at pose"
+  },{
+    -- When a move request is made we need to check if the sequence of poses
+    -- are close to our current pose. In this case we don't have to plan or
+    -- even move, and we return an ALREADY_THERE success response.
+    id = "tolerance_att", reconfigurable = true, type = "double",
+    default = 0.0872665, min = 0.0, max = 3.1415, unit = "rads",
+    description = "Atttitude tolerance for checking if we are already at pose"
+  },
   -- SPEED GAIN TIMEOUT
   {
     id = "timeout_speed_gain", reconfigurable = false, type = "double",
@@ -174,22 +191,6 @@ parameters = {
     id = "timeout_control_response", reconfigurable = false, type = "double",
     default = 1.0, min = 0.1, max = 10, unit = "seconds",
     description = "Time by which control feedback/response must be received"
-  },{
-    id = "timeout_validate_connected", reconfigurable = false, type = "double",
-    default = 10.0, min = 0.1, max = 10, unit = "seconds",
-    description = "Time by which the validate action must be connected to"
-  },{
-    id = "timeout_validate_active", reconfigurable = false, type = "double",
-    default = 10.0, min = 0.1, max = 10, unit = "seconds",
-    description = "Time by which a validate goal must go active"
-  },{
-    id = "timeout_validate_response", reconfigurable = false, type = "double",
-    default = 10.0, min = 0.1, max = 10, unit = "seconds",
-    description = "Time by which validate feedback/response must be received"
-  },{
-    id = "timeout_validate_deadline", reconfigurable = false, type = "double",
-    default = 10.0, min = 0.1, max = 10, unit = "seconds",
-    description = "Time by which validate response must be received"
   },{
     id = "timeout_plan_connected", reconfigurable = false, type = "double",
     default = 10.0, min = 0.1, max = 10, unit = "seconds",
@@ -206,6 +207,14 @@ parameters = {
     id = "timeout_plan_deadline", reconfigurable = false, type = "double",
     default = 10.0, min = 0.1, max = 10, unit = "seconds",
     description = "Time by which plan response must be received"
-  -- PLANNER
+  -- VALIDATOR
+  },{
+    id = "zone_file", reconfigurable = false, type = "string",
+    default = world_zone_file, unit = "not applicable",
+    description = "Which zone file should be used?"
+  },{
+    id = "zone_overwrite", reconfigurable = false, type = "boolean",
+    default = true, unit = "boolean",
+    description = "Allow new zones to overwrite the zone file"
   }
-}
+}