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Astrobee Robot Software v1

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)
  • uses GNC Simulink blower propulsion module
  • EKF inputs:
    • IMU model (no noise in this release)
    • Sparse mapping features (sampled from point cloud)
    • Visual features from synthetic images for optical flow
    • Camera models (from Gazebo with radial distortion)
  • Flashlight and laser representation
  • Can run with Gazebo 7 GUI and RViz or headless
  • Supports muti-Astrobee simulation (no communication between them)
  • Collision between Astrobee and ISS walls simulated

Limitations

  • No AR target tracking
  • No Handrail detection
  • Depthcam point cloud disabled (efficiency)
  • Camera raytracing runs at 2Hz
  • Conservative limit on angular velocity
  • Arm simulation disabled
  • No noise in the system

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

Limitations

  • Android framework to support ROS Java in development
  • No guest science manager (life cycle of Guest Science apps)

Localization

  • Localize without external infrastructure (beacons, etc.)
  • EKF works with following inputs:
    • Sparse mapping with BRISK (regular nav), ~2Hz
    • Optical flow ~15Hz
    • AR targets (docking)
    • Handrail detection (perching)
  • Produce 62.5Hz output
  • Localization manager allows switching safely between localization modes
  • Tools to calibrate intrinsics and extrinsics (IMU to Camera)
  • Tools to build maps from monocular vision (SURF + BRISK)
  • Tools to test localization performance from rosbag
  • Custom visualizer (gViz) for EFK inspection

Limitations

  • Sparse mapping runs only at 2Hz (vision processing + feature matching)
  • High distortion limits the usable features
  • Handrail localization needs improvements
  • No extrinsics calibration between depthcam and IMU
  • Better tuning for noise model and "lost" threshold required
  • No incremental map building
  • No tiling of large maps
  • No perched localization (low power localization when perched)

Mobility

  • Provides 4 different motion types:
    • IDLE (drifting)
    • STOP (zeros velocity, hold position if not externally moved)
    • MOVE (moves to given end pose)
    • EXECUTE (follows a time/space trajectory)
  • Provides 2 motion planners:
    • trapezoidal (default)
    • QP planner
  • Move primitive are position based
  • Validation of trajectories: stationary end-point, hard limits (velocity and acceleration) and control frequency
  • Velocity control is not allowed

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

  • Arbitrates commands regarding operating mode and current state
  • Sequencer supports plan execution
  • Supports essential commands (see list of currently supported commands)
    • Plan
    • Motion
    • Camera management
  • System management

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
  • Heart beat monitor for most nodes
  • System monitor framework can trigger responses to published faults

Limitations

  • Very few faults are published

Framework

  • Leverages ROS framework for on-board framework
  • 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
  • Leverages rViz and Gazebo 7 integration
  • Improved HTC Vive tracker, calibration procedure and integration for ground truth

Limitations

  • Documentation is incomplete