Release 0.3.0

This release addresses several bugs identified by Guest Scientists,
simulator improvements as well as many internal changes.
The only API change is in the EkfState (removed augmented state).

CMakeLists.txt

@@ -18,7 +18,7 @@
 cmake_minimum_required(VERSION 3.0)
 project(Astrobee)
 set(ASTROBEE_VERSION_MAJOR 0)
-set(ASTROBEE_VERSION_MINOR 2)
+set(ASTROBEE_VERSION_MINOR 3)
 
 if ( "${CMAKE_VERSION}" VERSION_GREATER 3.0.0 )
   cmake_policy(SET CMP0045 OLD)
@@ -96,9 +96,6 @@ option(ENABLE_QP
 option(ENABLE_PICOFLEXX
   "Enable support for building the PicoFlexx driver"
   ON)
-option(ENABLE_VIVE
-  "Enable support for HTC Vive tracking system"
-  OFF)
 option(ENABLE_GAZEBO
   "Enable support for building the Gazebo simulator"
   ON)
@@ -203,20 +200,24 @@ find_package(dbow2 REQUIRED)
 find_package(Alvar REQUIRED)
 find_package(OpenMVG QUIET REQUIRED)
 find_package(JsonCpp REQUIRED)
-find_package(FFMPEG QUIET) # OPTIONAL
+find_package(FFMPEG QUIET)    # Optional
+find_package(Deepdive QUIET)  # Optional
 if (ENABLE_PICOFLEXX)
   find_package(royale REQUIRED)
 endif (ENABLE_PICOFLEXX)
 
-
-
 #find_package(PkgConfig REQUIRED)
 #
 #pkg_check_modules(YAMLCPP REQUIRED yaml-cpp)
 #if (YAMLCPP_FOUND)
 #  set (YAMLCPP_INCLUDE_DIRS ${YAMLCPP_INCLUDEDIR})
 #endif (YAMLCPP_FOUND)
 
+pkg_check_modules(YAMLCPP REQUIRED yaml-cpp)
+if (YAMLCPP_FOUND)
+  set (YAMLCPP_INCLUDE_DIRS ${YAMLCPP_INCLUDEDIR})
+endif (YAMLCPP_FOUND)
+
 set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -Wno-unused-local-typedefs -Werror")
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall -Wno-unused-local-typedefs -Werror")
 set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -Wl,--no-undefined")
@@ -252,7 +253,9 @@ if (USE_CTC)
 endif (USE_CTC)
 if (USE_ROS)
   set(ENV{ROS_LANG_DISABLE} "genlisp:gennodejs:geneus:$ENV{ROS_LANG_DISABLE}")
-  find_package(catkin2 COMPONENTS roscpp message_generation std_msgs geometry_msgs sensor_msgs cv_bridge image_transport tf2 tf2_ros rosbag nodelet)
+  find_package(catkin2 COMPONENTS roscpp message_generation std_msgs geometry_msgs sensor_msgs cv_bridge image_transport tf tf2 tf2_ros rosbag nodelet)
+  find_package(PCL REQUIRED COMPONENTS common)
+  find_package(Octomap MODULE REQUIRED)
   #pkg_check_modules(OROCOS_KDL REQUIRED orocos_kdl)
   if (USE_CTC)
     set(OROCOS_KDL_LIBRARIES ${ARM_CHROOT_DIR}/opt/ros/kinetic/lib/liborocos-kdl.so)
@@ -322,7 +325,7 @@ if (USE_ROS)
   endif (NOT USE_CTC AND ENABLE_GAZEBO)
   add_subdirectory(gnc)
   add_subdirectory(mobility)
-  add_subdirectory(procedures)
+  add_subdirectory(behaviors)
   add_subdirectory(management)
 endif (USE_ROS)
 

INSTALL.md

@@ -116,7 +116,7 @@ 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 ISS, run the following:
 
-    roslaunch astrobee sim.launch dds:=false rviz:=true
+    roslaunch astrobee sim.launch dds:=false robot:=sim_pub rviz:=true
 
 - Note 1: The very first time Gazebo starts, it could take a long time because
   it loads some large models

RELEASE.md

@@ -1,5 +1,25 @@
 # Astrobee Robot Software v1
 
+## Release 0.3.0
+
+This release addresses several bugs identified by Guest Scientists, simulator improvements as well as many internal changes.
+The only API change is in the EkfState (removed augmented state).
+
+### Simulator
+  - Stability improvements
+  - Better performance by optimized collision checking and new method for feature simulation
+  - More detailed CAD models and textures
+
+### Mobility
+  - New mapper node builds an Octomap from the HazCam data
+  - Collision checking performed at runtime agains the Octomap
+  - Docking and undocking complete
+
+### Limitations
+  - Angular velocities/acceleration in GDS not consistent with FSW (will be fixed in GDS)
+  - Keep in and keep out zones are not checked (during validation or execution)
+  - Simulated docking in a beta stage and should not be used
+
 ## Release 0.2.0
 
 ### Simulator

astrobee/config/proc/arm.config → astrobee/config/behaviors/arm.config

@@ -21,15 +21,15 @@ require "context"
 parameters = {
   {
     id = "tol_pan", reconfigurable = true, type = "double",
-    default = 1, min = 0.1, max = 10, unit = "degrees",
+    default = 5.0, min = 0.1, max = 10, unit = "degrees",
     description = "Tolerance for reaching pan goal"
   },{
     id = "tol_tilt", reconfigurable = true, type = "double",
-    default = 1, min = 0.1, max = 10, unit = "degrees",
+    default = 5.0, min = 0.1, max = 10, unit = "degrees",
     description = "Tolerance for reaching tilt goal"
   },{
     id = "tol_gripper", reconfigurable = true, type = "double",
-    default = 1, min = 0.1, max = 10, unit = "percentage",
+    default = 5.0, min = 0.1, max = 10, unit = "degrees",
     description = "Tolerance for reaching gripper goals"
   },{
     id = "timeout_watchdog", reconfigurable = false, type = "double",

astrobee/config/proc/dock.config → astrobee/config/behaviors/dock.config

@@ -40,11 +40,11 @@ parameters = {
     description = "Time by which the control action must be connected to"
   },{
     id = "timeout_motion_active", reconfigurable = false, type = "double",
-    default = 1.0, min = 0.1, max = 10, unit = "seconds",
+    default = 10.0, min = 0.1, max = 10, unit = "seconds",
     description = "Time by which a control goal must go active"
   },{
     id = "timeout_motion_response", reconfigurable = false, type = "double",
-    default = 1.0, min = 0.1, max = 10, unit = "seconds",
+    default = 10.0, min = 0.1, max = 10, unit = "seconds",
     description = "Time by which control feedback/response must be received"
   },{
     id = "timeout_switch_connected", reconfigurable = false, type = "double",
@@ -62,21 +62,13 @@ parameters = {
     id = "timeout_switch_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 = "delta_approach", reconfigurable = false, type = "double",
-    default = 0.5, min = 0.2, max = 1.0, unit = "meters",
-    description = "The distance between the berth frame and approach pose"
-  },{
-    id = "delta_complete", reconfigurable = false, type = "double",
-    default = -0.10, min = -0.05, max = 0.05, unit = "meters",
-    description = "The distance between the berth frame and complete pose"
-  },{
-    id = "delta_attached", reconfigurable = false, type = "double",
-    default = 0.10, min = 0, max = 1.0, unit = "meters",
-    description = "The distance between the berth frame and attached pose"
   },{
     id = "detection_tolerance", reconfigurable = false, type = "double",
-    default = 0.10, min = 0.01, max = 0.2, unit = "meters",
-    description = "The distance we should be from the berth"
+    default = 0.30, min = 0.01, max = 0.2, unit = "meters",
+    description = "Distance used to detect closest berth to current position"
+  },{
+    id = "initial_tolerance", reconfigurable = false, type = "double",
+    default = 1.0, min = 0.01, max = 0.2, unit = "meters",
+    description = "The distance we should be from the approach point to begin"
   }
 }

astrobee/config/proc/perch.config → astrobee/config/behaviors/perch.config

@@ -20,37 +20,26 @@ require "geometry"
 
 -- Declare the variables above as reconfigurable
 parameters = {
-  -- SERVICE CLIENT TIMEOUT VALUES
+
+  -- MOTION
+
   {
-    id = "timeout_enable_connected", reconfigurable = false, type = "double",
-    default = 10.0, min = 0.1, max = 10, unit = "seconds",
-    description = "Plan action timeout"
-  -- ACTION CLIENT TIMEOUT VALUES
-  },{
     id = "timeout_motion_connected", reconfigurable = false, type = "double",
     default = 10.0, min = 0.1, max = 10, unit = "seconds",
-    description = "Time by which the motion action must be connected to"
+    description = "Time by which the control action must be connected to"
   },{
     id = "timeout_motion_active", reconfigurable = false, type = "double",
     default = 1.0, min = 0.1, max = 10, unit = "seconds",
-    description = "Time by which a motion goal must go active"
+    description = "Time by which a control goal must go active"
   },{
     id = "timeout_motion_response", reconfigurable = false, type = "double",
     default = 1.0, min = 0.1, max = 10, unit = "seconds",
-    description = "Time by which motion feedback/response must be received"
-  },{
-    id = "timeout_arm_connected", reconfigurable = false, type = "double",
-    default = 10.0, min = 0.1, max = 10, unit = "seconds",
-    description = "Time by which the arm action must be connected to"
-  },{
-    id = "timeout_arm_active", reconfigurable = false, type = "double",
-    default = 1.0, min = 0.1, max = 10, unit = "seconds",
-    description = "Time by which a arm goal must go active"
-  },{
-    id = "timeout_arm_response", reconfigurable = false, type = "double",
-    default = 1.0, min = 0.1, max = 10, unit = "seconds",
-    description = "Time by which arm feedback/response must be received"
-  },{
+    description = "Time by which control feedback/response must be received"
+  },
+
+  -- SWITCH
+
+  {
     id = "timeout_switch_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"
@@ -62,18 +51,21 @@ parameters = {
     id = "timeout_switch_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_switch_deadline", reconfigurable = false, type = "double",
-    default = 10.0, min = 0.1, max = 10, unit = "seconds",
-    description = "Time by which validate response must be received"
   }
-}
 
--- The "approach" pose (20cm in front of handrail)
-approach_pose = transform(vec3(0.20000, 0, 0), quat4(0.0, 0.0, 0.0, 1.0));
+  -- ARM
 
--- The "complete" pose (2cm behind handrail)
-complete_pose = transform(vec3(-0.0200, 0, 0), quat4(0.0, 0.0, 0.0, 1.0));
-
--- The "attach" pose (2cm in front of handrail)
-attached_pose = transform(vec3(0.02000, 0, 0), quat4(0.0, 0.0, 0.0, 1.0));
+  {
+    id = "timeout_arm_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_arm_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_arm_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"
+  }
+}

astrobee/config/commands.config

@@ -1,19 +1,7 @@
--- Copyright (c) 2017, United States Government, as represented by the
+
+-- Copyright (c) 2015 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.
+-- All Rights Reserved.
 
 commandConfig = {
   availableSubsystemTypes={
@@ -237,6 +225,10 @@ commandConfig = {
           name="perch",
           parameters={}
         },
+        {
+          name="prepare",
+          parameters={}
+        },
         {
           name="simpleMove6DOF",
           parameters={
@@ -415,6 +407,15 @@ commandConfig = {
             }
           }
         },
+        {
+          name="setEnableImmediate",
+          parameters={
+            {
+              key="enableImmediate",
+              type="RAPID_BOOL"
+            }
+          }
+        },
         {
           name="setFlashlightBrightness",
           parameters={
@@ -500,6 +501,15 @@ commandConfig = {
             }
           }
         },
+        {
+          name="setTimeSync",
+          parameters={
+            {
+              key="setTimeSync",
+              type="RAPID_BOOL"
+            }
+          }
+        },
         {
           name="setZones",
           parameters={}

astrobee/config/common_lua.config

@@ -204,6 +204,9 @@ function vec3(_x,_y,_z)
 end
 
 function quat4(_x,_y,_z,_w)
+  if math.abs(math.sqrt(_x*_x + _y*_y + _z*_z + _w*_w) - 1.0) > 1e-3 then
+    error("Quaternion is not normalized.")
+  end
   return {x=_x,y=_y,z=_z,w=_w}
 end
 

astrobee/config/communications/dds_ros_bridge.config

@@ -56,6 +56,10 @@ pub_topic_RAJSRAJS = ""
 use_RARMRARM = true
 pub_topic_RARMRARM = ""
 
+-- ros_battery_state_rapid_battery_state => RBSRBS --
+use_RBSRBS = true
+pub_topic_RBSRBS = ""
+
 -- ros_command_config_rapid_command_config => RCCRCC -
 use_RCCRCC = true
 pub_topic_RCCRCC = ""
@@ -80,14 +84,14 @@ pub_topic_RCNCIRI = "-Navigation"
 use_RCSRCS = true
 pub_topic_RCSRCS = ""
 
+-- ros_data_to_disk_rapid_data_to_disk => RDTDRDTD --
+use_RDTDRDTD = true
+pub_topic_RDTDRDTD = ""
+
 -- ros_disk_state_rapid_disk_state => RDSRDS --
 use_RDSRDS = true
 pub_topic_RDSRDS = ""
 
--- ros_battery_state_rapid_battery_state => RBSRBS --
-use_RBSRBS = true
-pub_topic_RBSRBS = ""
-
 -- ros_fault_config_rapid_fault_config => RFCRFC --
 use_RFCRFC = true
 pub_topic_RFCRFC = ""