nasa · rsoussan · Jun 8, 2024 · Feb 15, 2024 · Feb 15, 2024 · Feb 17, 2024
diff --git a/.github/workflows/msgs_jar.yaml b/.github/workflows/msgs_jar.yaml
@@ -11,19 +11,12 @@ jobs:
     steps:
     - uses: actions/checkout@v3
 
-    - name: Build image astrobee/astrobee:msgs-ubuntu16.04
+    - name: Build image astrobee/astrobee:msgs-ubuntu20.04
       run: docker build . -f ./scripts/docker/astrobee_msgs.Dockerfile
-                                 --build-arg UBUNTU_VERSION=16.04
-                                 --build-arg ROS_VERSION=kinetic
-                                 --build-arg PYTHON=''
-                                 -t astrobee/astrobee:msgs-ubuntu16.04
+                                 -t astrobee/astrobee:msgs-ubuntu20.04
 
-    - name: Build image astrobee/astrobee:latest-msgs-jar-ubuntu16.04
+    - name: Build image astrobee/astrobee:latest-msgs-jar-ubuntu20.04
       run: docker build . -f ./scripts/docker/build_msgs_jar.Dockerfile
-                              --build-arg UBUNTU_VERSION=16.04
-                              --build-arg ROS_VERSION=kinetic
-                              --build-arg PYTHON=''
-                              --build-arg REPO=astrobee
                               -t ghcr.io/${{ github.repository_owner }}/astrobee:latest-msgs-jar
 
     - name: Copy jar files

diff --git a/.isort.cfg b/.isort.cfg
@@ -15,4 +15,4 @@
 # added to a new folder, you can auto-update it by running
 # scripts/git/configure_isort_paths.sh.
 
-src_paths = doc/scripts,hardware/eps_driver/tools,hardware/pico_driver/scripts,hardware/pmc_actuator/tools,localization/localization_common,localization/localization_common/scripts/localization_common,localization/marker_tracking/tools/marker_tracking_node,localization/sparse_mapping/scripts,localization/sparse_mapping/tools,scripts/build,scripts/calibrate,scripts/debug,scripts/git,scripts/postprocessing/coverage_analysis,tools/bag_processing/scripts,tools/bag_processing/scripts/utilities,tools/bag_processing/test,tools/calibration/scripts,tools/gds_helper/src,tools/gnc_visualizer/dds,tools/gnc_visualizer/scripts,tools/gnc_visualizer/scripts/communications,tools/localization_analysis/scripts,tools/performance_tester/scripts
+src_paths = doc/scripts,hardware/eps_driver/tools,hardware/pico_driver/scripts,hardware/pmc_actuator/tools,localization/camera/test,localization/localization_common,localization/localization_common/scripts/localization_common,localization/marker_tracking/tools/marker_tracking_node,localization/sparse_mapping/scripts,localization/sparse_mapping/tools,scripts/build,scripts/calibrate,scripts/debug,scripts/git,scripts/postprocessing/coverage_analysis,tools/bag_processing,tools/bag_processing/scripts,tools/bag_processing/scripts/utilities,tools/bag_processing/src/bag_processing,tools/bag_processing/src/bag_processing/bak,tools/bag_processing/test,tools/calibration/scripts,tools/gds_helper/src,tools/gnc_visualizer/dds,tools/gnc_visualizer/scripts,tools/gnc_visualizer/scripts/communications,tools/localization_analysis/scripts,tools/performance_tester/scripts
diff --git a/INSTALL.md b/INSTALL.md
@@ -2,13 +2,13 @@
 
 ## System requirements
 
-Ubuntu 20.04 is currently the only supported platform for most Astrobee development use cases.
+Ubuntu 20.04 is currently the only supported platform.
 
 Here are the currently available host OS options with development roadmap details (use 64-bit PC (AMD64) desktop image):
-- [Ubuntu 20.04](http://releases.ubuntu.com/20.04): This is currently the only supported platform for most Astrobee development use cases. The Astrobee hardware on ISS has been running Ubuntu 20.04 since it was upgraded during the "Crew-Minimal S14" activity on December 19, 2023.
-- [Ubuntu 16.04](http://releases.ubuntu.com/16.04): No longer supported for most use cases. The Astrobee robot hardware ran Ubuntu 16.04 from its launch in 2019 until it was upgraded to run Ubuntu 20.04. Ubuntu 16.04 support was discontinued for most use cases in February 2024. Ending Ubuntu 16.04 support removed important limitations. For example, going forward, Astrobee's software will no longer need to be backward-compatible with Python 2 and OpenCV 3. However, Ubuntu 16.04 is still required in a very limited role that most developers don't need to worry about. We use it to compile a JAR file binary artifact of Astrobee message definitions used by the [astrobee_android](https://github.com/nasa/astrobee_android) code hosted on Astrobee's High-Level Processor, which runs a legacy version of Android with `rosjava`, which was designed to communicate with the ROS Kinetic distribution. Compiling the JAR file requires the `ros-kinetic-rosjava` package that is only available for Ubuntu 16.04. (But most developers shouldn't need to generate this artifact.)
+- [Ubuntu 20.04](http://releases.ubuntu.com/20.04): This is currently the only supported platform. The Astrobee hardware on ISS has been running Ubuntu 20.04 since it was upgraded during the "Crew-Minimal S14" activity on December 19, 2023.
 
 Specifically not supported:
+- ~~[Ubuntu 16.04](http://releases.ubuntu.com/16.04)~~: No longer supported. The Astrobee robot hardware ran Ubuntu 16.04 from its launch in 2019 until it was upgraded to run Ubuntu 20.04. Ubuntu 16.04 support was discontinued in February 2024. Ending Ubuntu 16.04 support removed important limitations. For example, going forward, Astrobee's software will no longer need to be backward-compatible with Python 2 and OpenCV 3.
 - ~~[Ubuntu 18.04](http://releases.ubuntu.com/18.04)~~: Ubuntu 18.04 support as a software development platform was discontinued as of November 2023. (It was never supported on the robot hardware.)
 - ~~[Ubuntu 22.04](http://releases.ubuntu.com/22.04)~~: There is currently no plan for Ubuntu 22.04 support on the Astrobee roadmap. However, note that Astrobee ROS2 support, when it eventually becomes available, is currently expected to use the ROS2 Humble Hawksbill distribution that normally runs on 22.04, but backported to run on 20.04 (the last Ubuntu version supported by ROS1). This will facilitate migrating from ROS1 to ROS2 without requiring a simultaneous Ubuntu distribution upgrade.
 

diff --git a/RELEASE.md b/RELEASE.md
@@ -1,5 +1,11 @@
 # Releases
 
+# Release 0.17.3
+
+  * Comms bridge added rate feature
+  * Bug fixes
+  * User feedback improvements
+
 # Release 0.17.2
 
   * Adding Generic comms bridge

diff --git a/astrobee.doxyfile b/astrobee.doxyfile
@@ -39,7 +39,7 @@ PROJECT_NAME           = "NASA Astrobee Robot Software"
 # control system is used.
 
 
-PROJECT_NUMBER         = 0.17.2
+PROJECT_NUMBER         = 0.17.3
 
 # Using the PROJECT_BRIEF tag one can provide an optional one line description
 # for a project that appears at the top of each page and should give viewer a

diff --git a/astrobee/CMakeLists.txt b/astrobee/CMakeLists.txt
@@ -18,7 +18,7 @@
 cmake_minimum_required(VERSION 3.0)
 project(astrobee)
 
-set(ASTROBEE_VERSION 0.17.2)
+set(ASTROBEE_VERSION 0.17.3)
 
 ## Compile as C++14, supported in ROS Kinetic and newer
 add_compile_options(-std=c++14)

diff --git a/astrobee/commands/freeFlyerPlanSchema.json b/astrobee/commands/freeFlyerPlanSchema.json
@@ -802,6 +802,30 @@
       ]
     },
 
+    {
+      "type": "CommandSpec",
+      "id": "Settings.setExposure",
+      "isRapidNative": false,
+      "notes": "Set the exposure value for either the nav or dock camera.",
+      "availableContexts": [
+        "teleop"
+      ],
+      "parent": "Command",
+      "params": [
+        {
+          "type": "ParamSpec",
+          "id": "cameraName",
+          "parent": "Settings.CameraName"
+        },
+        {
+          "type": "ParamSpec",
+          "id": "exposure",
+          "valueType": "float",
+          "notes": "The value to set the exposurec to."
+        }
+      ]
+    },
+
     {
       "type": "CommandSpec",
       "id": "GuestScience.startGuestScience",
@@ -894,6 +918,25 @@
       ]
     },
 
+    {
+      "type": "CommandSpec",
+      "id": "Settings.setMap",
+      "isRapidNative": false,
+      "notes": "Sets the map used for localization.",
+      "availableContexts": [
+        "teleop"
+      ],
+      "parent": "Command",
+      "params": [
+        {
+          "type": "ParamSpec",
+          "id": "mapName",
+          "valueType" : "string",
+          "notes": "Full path to the map file to use. 'default' uses the default map loaded on startup."
+        }
+      ]
+    },
+
     {
       "type": "CommandSpec",
       "id": "Plan.setPlan",
@@ -1007,7 +1050,14 @@
         "teleop"
       ],
       "parent": "Command",
-      "params": []
+      "params": [
+        {
+          "type": "ParamSpec",
+          "id": "berthNumber",
+          "valueType": "long",
+          "notes": "Which berth Astrobee is using. 1=left, 2=right."
+        }
+      ]
     },
 
     {

diff --git a/astrobee/config/behaviors/dock.config b/astrobee/config/behaviors/dock.config
@@ -95,7 +95,7 @@ parameters = {
     id = "enable_validation",
     reconfigurable = false,
     type = "boolean",
-    default = true,
+    default = false,
     unit = "boolean",
     description = "Should we validate segments before executing them?"
   },{
@@ -134,7 +134,7 @@ parameters = {
     id = "enable_faceforward",
     reconfigurable = false,
     type = "boolean",
-    default = true,
+    default = false,
     unit = "boolean",
     description = "Should planning be face-forward only?"
   },{
@@ -174,4 +174,4 @@ parameters = {
     unit = "m/s",
     description = "Soft planning limit on net angular acceleration"
   }
-}
+}
diff --git a/astrobee/config/commands.config b/astrobee/config/commands.config
@@ -231,7 +231,12 @@ commandConfig = {
       commands={
         {
           name="autoReturn",
-          parameters={}
+          parameters={
+            {
+              key="berthNumber",
+              type="RAPID_INT"
+            }
+          }
         },
         {
           name="dock",
@@ -445,6 +450,19 @@ commandConfig = {
             }
           }
         },
+        {
+          name="setExposure",
+          parameters={
+            {
+              key="cameraName",
+              type="RAPID_STRING"
+            },
+            {
+              key="exposure",
+              type="RAPID_FLOAT"
+            }
+          }
+        },
         {
           name="setFlashlightBrightness",
           parameters={
@@ -488,6 +506,15 @@ commandConfig = {
             }
           }
         },
+        {
+          name="setMap",
+          parameters={
+            {
+              key="mapName",
+              type="RAPID_STRING"
+            }
+          }
+        },
         {
           name="setOperatingLimits",
           parameters={

diff --git a/astrobee/config/communications/comms_bridge.config b/astrobee/config/communications/comms_bridge.config
@@ -64,15 +64,20 @@ links = {
     -- and relay_both (to be relayed in both directions). Providing all three fields gives the user
     -- full directional control while minimizing repetition and copy/paste errors.
 
-    -- Each topic entry can contain an input topic and an output topic. The
-    -- in topic is the topic being published on the robot sending the data and
-    -- must be specified. The optional out topic is the name of the topic a
-    -- user wants the data published on in the receiving robot. If the
-    -- out topic is not specified, the comms bridge will set it to be the name
-    -- of the robot sending the data combined with the in topic name. For
-    -- instance, if the from robot was Bumble and the to robot was Honey and
-    -- one of the in topics in the relay forward list was "mgt/ack", then it
-    -- would be published on Honey on topic "bumble/mgt/ack".
+    -- Each topic entry can contain an input topic, output topic, and a rate. 
+    -- In topic: Required. This is the topic being published on the robot
+    -- sending the data.
+    -- Out topic: Optional. This is the name of the topic a user wants the data
+    -- published on in the receiving robot. If the out topic is not specified,
+    -- the comms bridge will set it to be the name of the robot sending the data
+    -- combined with the in topic name. For instance, if the from robot was
+    -- Bumble and the to robot was Honey and one of the in topics in the relay
+    -- forward list was "mgt/ack", then it would be published on Honey on topic
+    -- "bumble/mgt/ack".
+    -- Rate: Optional. The rate in seconds at which a user wants the topic
+    -- published to the receiving robot. Please omit the rate, if the topic
+    -- should be published at the same rate it is published on the robot.
+
     -- Please note that only one unique in topic can exist in the relay forward
     -- and relay both lists and the relay backward and relay both lists. It is
     -- fine to have the same in topic in the relay forward and relay backward

diff --git a/astrobee/config/gnc.config b/astrobee/config/gnc.config
@@ -18,6 +18,8 @@
 require "common_lua"
 require "geometry"
 
+-- Velocity Feedforward Gain
+tun_vel_gain = 0.5;
 -- Accel Feedforward Gains
 tun_accel_gain = vec3(1.0, 1.0, 1.0);
 tun_alpha_gain = vec3(1.0, 1.0, 1.0);

diff --git a/astrobee/config/localization/depth_odometry.config b/astrobee/config/localization/depth_odometry.config
@@ -32,6 +32,13 @@ orientation_covariance_threshold = 100
 -- icp or image_feature
 depth_odometry_method = "image_feature"
 
+-- Buffer size for images and point clouds
+max_buffer_size = 5
+
+-- Max number of depth images to create in a single iteration
+-- Limits depth odometry runtime 
+max_depth_images = 2
+
 -- ICP options
 
 -- Search radius for each point in ICP 
@@ -122,9 +129,18 @@ clahe_clip_limit = 40
 -- Other
 min_x_distance_to_border = 10 
 min_y_distance_to_border = 10
-min_num_inliers = 5
+min_num_correspondences = 5
+-- Don't compute relative pose and just return 3D point correspondences
+-- Only applicable for image_feature approach 
+only_correspondences = true 
 -- Refine estimate with PointToPlaneICP
 refine_estimate = true
+-- Filter outliers using essential matrix estimation
+filter_outliers = false 
+-- ransac, lmeds, rho (rho is actual prosac)
+filter_method = "rho" 
+inlier_threshold = 1.0
+inlier_probability = 0.999
 
 -- Point cloud with known correspondences aligner
 pcwkca_max_num_iterations = 100

diff --git a/astrobee/config/localization/graph_localizer.config b/astrobee/config/localization/graph_localizer.config
@@ -27,46 +27,48 @@ gl_fa_loc_sm_add_projection_factors = true
 gl_fa_loc_sm_add_prior_if_projection_factors_fail = true 
 gl_fa_loc_sm_prior_translation_stddev = 0.06 
 gl_fa_loc_sm_prior_quaternion_stddev = 0.06
-gl_fa_loc_sm_scale_pose_noise_with_num_landmarks = true 
+gl_fa_loc_sm_scale_pose_noise_with_num_landmarks = false 
+--- test this again??
 gl_fa_loc_sm_scale_projection_noise_with_num_landmarks = false 
 gl_fa_loc_sm_scale_projection_noise_with_landmark_distance = false 
-gl_fa_loc_sm_pose_noise_scale = 7 
+--- change to <=1 w/ new vio cov
+gl_fa_loc_sm_pose_noise_scale = 0.001 
 -- Change to 9 if scale with inverse distance
-gl_fa_loc_sm_projection_noise_scale = 60
+--- use 1 - 1.5?
+--- use 100 if using distance based covariance model!
+gl_fa_loc_sm_projection_noise_scale = 1.5 
+--- use 10-15????
 gl_fa_loc_sm_max_num_projection_factors = 25 
 gl_fa_loc_sm_min_num_matches_per_measurement = 5 
 gl_fa_loc_sm_max_valid_projection_error = 30
 gl_fa_loc_sm_nav_cam_noise_stddev = 0.1
 ---- AR Tag (ar)
-gl_fa_loc_ar_enabled = true
+gl_fa_loc_ar_enabled = true 
 gl_fa_loc_ar_huber_k = world_huber_k
 gl_fa_loc_ar_add_pose_priors = false 
 gl_fa_loc_ar_add_projection_factors = true
 gl_fa_loc_ar_add_prior_if_projection_factors_fail = true 
 gl_fa_loc_ar_prior_translation_stddev = 0.06 
 gl_fa_loc_ar_prior_quaternion_stddev = 0.06
-gl_fa_loc_ar_scale_pose_noise_with_num_landmarks = true 
+gl_fa_loc_ar_scale_pose_noise_with_num_landmarks = false 
 gl_fa_loc_ar_scale_projection_noise_with_num_landmarks = false 
 gl_fa_loc_ar_scale_projection_noise_with_landmark_distance = false 
-gl_fa_loc_ar_pose_noise_scale = 7 
+gl_fa_loc_ar_pose_noise_scale = 0.01 
 -- Change to 9 if scale with inverse distance
-gl_fa_loc_ar_projection_noise_scale = 60
+gl_fa_loc_ar_projection_noise_scale = 10 
 gl_fa_loc_ar_max_num_projection_factors = 25 
 gl_fa_loc_ar_min_num_matches_per_measurement = 5 
 gl_fa_loc_ar_max_valid_projection_error = 30
 gl_fa_loc_ar_dock_cam_noise_stddev = 0.1
-
 -- Node Adders (na)
 --- Pose
 gl_na_pose_starting_prior_translation_stddev = 0.02 
 gl_na_pose_starting_prior_quaternion_stddev = 0.01
 gl_na_pose_huber_k = world_huber_k 
 gl_na_pose_add_priors = true 
--- TODO: tune these!
-gl_na_pose_ideal_duration = 6 
+gl_na_pose_ideal_duration = 4 
 gl_na_pose_min_num_states = 3 
-gl_na_pose_max_num_states = 10
--- TODO: start node??
+gl_na_pose_max_num_states = 5
 gl_na_pose_model_huber_k = world_huber_k
 -- Optimizer (op)
 --- Nonlinear
@@ -82,8 +84,4 @@ gl_go_sw_print_after_optimization = false
 gl_go_sw_add_marginal_factors = false 
 gl_go_sw_slide_window_before_optimization = true
 -- Other
--- TODO: tune this!
 gl_max_vio_measurement_gap = 3 
--- Ros graph localizer (rgl)
-rgl_max_graph_vio_state_buffer_size = 10 
-rgl_max_vl_matched_projections_buffer_size = 10