Merge pull request #298 from nasa/develop

Release 0.15.2

.github/workflows/build_and_test.yml

@@ -10,7 +10,7 @@ jobs:
 
   build-xenial:
 
-    runs-on: ubuntu-16.04
+    runs-on: ubuntu-18.04
 
     steps:
     - uses: actions/checkout@v2
@@ -19,10 +19,16 @@ jobs:
       run: git submodule update --init --depth 1 description/media
 
     - name: Build code for Ubuntu 16
-      run: docker build . -f ./scripts/docker/astrobee_xenial.Dockerfile -t astrobee/astrobee:latest-xenial
+      run: docker build . -f ./scripts/docker/astrobee.Dockerfile
+                          --build-arg UBUNTU_VERSION=16.04
+                          --build-arg ROS_VERSION=kinetic
+                          --build-arg PYTHON=''
+                          -t astrobee/astrobee:latest-ubuntu16.04
 
     - name: Test code
-      run: docker build . -f ./scripts/docker/test_astrobee_xenial.Dockerfile -t test
+      run: docker build . -f ./scripts/docker/test_astrobee.Dockerfile
+                          --build-arg UBUNTU_VERSION=16.04
+                          -t astrobee/astrobee:test-ubuntu16.04
 
   build-bionic:
 
@@ -35,10 +41,16 @@ jobs:
       run: git submodule update --init --depth 1 description/media
 
     - name: Build code for Ubuntu 18
-      run: docker build . -f ./scripts/docker/astrobee_bionic.Dockerfile -t astrobee/astrobee:latest-bionic
+      run: docker build . -f ./scripts/docker/astrobee.Dockerfile
+                          --build-arg UBUNTU_VERSION=18.04
+                          --build-arg ROS_VERSION=melodic
+                          --build-arg PYTHON=3
+                          -t astrobee/astrobee:latest-ubuntu18.04
 
     - name: Test code
-      run: docker build . -f ./scripts/docker/test_astrobee_bionic.Dockerfile -t test
+      run: docker build . -f ./scripts/docker/test_astrobee.Dockerfile
+                          --build-arg UBUNTU_VERSION=18.04
+                          -t astrobee/astrobee:test-ubuntu18.04
 
   build-focal:
 
@@ -51,7 +63,13 @@ jobs:
       run: git submodule update --init --depth 1 description/media
 
     - name: Build code for Ubuntu 20
-      run: docker build . -f ./scripts/docker/astrobee_focal.Dockerfile -t astrobee/astrobee:latest-focal
+      run: docker build . -f ./scripts/docker/astrobee.Dockerfile
+                          --build-arg UBUNTU_VERSION=20.04
+                          --build-arg ROS_VERSION=noetic
+                          --build-arg PYTHON=3
+                          -t astrobee/astrobee:latest-ubuntu20.04
 
     - name: Test code
-      run: docker build . -f ./scripts/docker/test_astrobee_focal.Dockerfile -t test
+      run: docker build . -f ./scripts/docker/test_astrobee.Dockerfile
+                          --build-arg UBUNTU_VERSION=20.04
+                          -t astrobee/astrobee:test-ubuntu20.04

.github/workflows/lint.yaml

@@ -5,10 +5,27 @@ name: Check for lint errors
 on: ['push', 'pull_request']
 
 jobs:
-  lint_check:
+  lint_check_cpp:
     runs-on: ubuntu-latest
 
     steps:
     - uses: actions/checkout@v2
     - name: Check repo for lint errors
       run: ./scripts/git/cpplint_repo.py .
+
+  lint_check_python:
+    runs-on: ubuntu-latest
+
+    steps:
+    - uses: actions/checkout@v2
+    - name: Install linters
+      run: |
+        pip install black
+        pip install isort
+
+    - name: Run black
+      run: |
+        black . --diff --extend-exclude cmake --check
+    - name: Run isort
+      run: |
+        isort . --diff --extend-skip cmake --profile black --check-only

CMakeLists.txt

@@ -18,7 +18,7 @@
 cmake_minimum_required(VERSION 3.0)
 project(Astrobee)
 
-set(ASTROBEE_VERSION 0.15.1)
+set(ASTROBEE_VERSION 0.15.2)
 
 # Define our options
 option(USE_CCACHE

README.md

@@ -40,7 +40,7 @@ due to NASA legal requirements. Thank you for your understanding.
 
 [Extensive documentation is auto-generated from the contents of this repository.](https://nasa.github.io/astrobee/documentation.html)
 
-["A Brief Guide to Astrobee’s Flight Software"](https://github.com/albee/a-brief-guide-to-astrobee/raw/master/a_brief_guide_to_astrobee_v1.0.pdf) is a good tutorial, with a particular emphasis on the advanced topic of modifying Astrobee's flight software to enable Guidance, Navigation, & Control (GN&C) research. (Note that most guest science can be implemented as an app that uses the [Astrobee Command API](https://nasa.github.io/astrobee/html/command_dictionary.html) without modifying the flight software.)
+["A Brief Guide to Astrobee’s Flight Software"](https://github.com/albee/a-brief-guide-to-astrobee/raw/master/a_brief_guide_to_astrobee_latest.pdf) is a good tutorial, with a particular emphasis on the advanced topic of modifying Astrobee's flight software to enable Guidance, Navigation, & Control (GN&C) research. (Note that most guest science can be implemented as an app that uses the [Astrobee Command API](https://nasa.github.io/astrobee/html/command_dictionary.html) without modifying the flight software.)
 
 For more information, read [Astrobee-related publications](https://www.nasa.gov/content/research-publications-0).
 Learning about the Astrobee [platform](https://www.nasa.gov/sites/default/files/atoms/files/bualat_spaceops_2018_paper.pdf),

RELEASE.md

@@ -1,5 +1,13 @@
 # Releases
 
+## Release 0.15.2
+
+  * added python linters black and isort in the CI pipeline
+  * added perching arm reconnect service
+  * added nav and dock cam bayer image output option
+  * added code to report time for llp, mlp, hlp
+  * added end of motion check 
+
 ## Release 0.15.1
 
   * Separated config files for DDS communications to avoid conflict

astrobee.doxyfile

@@ -39,7 +39,7 @@ PROJECT_NAME           = "NASA Astrobee Robot Software"
 # control system is used.
 
 
-PROJECT_NUMBER         = 0.15.1
+PROJECT_NUMBER         = 0.15.2
 
 # 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
@@ -2392,7 +2392,7 @@ DOT_PATH               =
 # command).
 # This tag requires that the tag HAVE_DOT is set to YES.
 
-DOTFILE_DIRS           = behaviors mobility
+DOTFILE_DIRS           = behaviors mobility gnc
 
 # The MSCFILE_DIRS tag can be used to specify one or more directories that
 # contain msc files that are included in the documentation (see the \mscfile

astrobee/config/cameras.config

@@ -17,6 +17,13 @@
 
 require "context"
 
+-- bayer_enable: Set to true to enable publishing raw Bayer images (can
+--   be converted to RGB). May incur significant I/O overhead.
+
+-- bayer_throttle_ratio: Set to n to publish 1 raw Bayer image for
+--   every n images grabbed. With n = 1, every image is
+--   published. Larger n reduces I/O overhead.
+
 nav_cam = {
   width                = 1280,
   height               = 960,
@@ -28,7 +35,9 @@ nav_cam = {
   gain                 = robot_camera_calibrations.nav_cam.gain,
   exposure             = robot_camera_calibrations.nav_cam.exposure,
   calibration_gain     = 105,
-  calibration_exposure = 30
+  calibration_exposure = 30,
+  bayer_enable = false,
+  bayer_throttle_ratio = 3
 };
 
 dock_cam = {
@@ -42,7 +51,9 @@ dock_cam = {
   gain=            robot_camera_calibrations.dock_cam.gain,
   exposure=        robot_camera_calibrations.dock_cam.exposure,
   calibration_gain     = 105,
-  calibration_exposure = 30
+  calibration_exposure = 30,
+  bayer_enable = false,
+  bayer_throttle_ratio = 3
 };
 
 -- The haz and perch cam params below are ignored for the time being.

astrobee/config/communications/dds_ros_bridge.config

@@ -178,6 +178,10 @@ use_RTRT = true
 pub_topic_RTRT = ""
 
 
+-- ros_zones_rapid_compressed_file => RZRCF --
+use_RZRCF = true
+pub_topic_RZRCF = "-current_zones"
+
 comm_status_rate = 1
 cpu_state_rate = 0
 disk_state_rate = 1

astrobee/config/management/data_bagger.config

@@ -50,7 +50,10 @@ default_topics = {{topic="gnc/ctl/traj", downlink="immediate", frequency=-1},
                   {topic="mob/state", downlink="immediate", frequency=-1},
                   {topic="command", downlink="immediate", frequency=-1},
                   {topic="mgt/ack", downlink="immediate", frequency=-1},
-                  {topic="mgt/sys_monitor/time_diff", downlink="immediate", frequency=-1},
+                  {topic="mgt/sys_monitor/time_sync", downlink="immediate", frequency=-1},
+                  {topic="gs/gs_manager/ack", downlink="immediate", frequency=-1},
+                  {topic="gs/gs_manager/config", downlink="immediate", frequency=-1},
+                  {topic="gs/gs_manager/state", downlink="immediate", frequency=-1},
                   {topic="rosout", downlink="immediate", frequency=-1},
                   {topic="robot_name", downlink="immediate", frequency=-1}}
 

astrobee/config/mobility/choreographer.config

@@ -230,7 +230,7 @@ parameters = {
     description = "Allow new zones to overwrite the zone file"
   },{
     id = "tolerance_max_time", reconfigurable = false, type = "double",
-    default = 1.0, unit = "seconds",
+    default = 3.0, unit = "seconds",
     description = "Maximum time a tolerance is acceptable"
   }
 }

astrobee/config/mobility/mapper.config

@@ -75,14 +75,23 @@ parameters = {
     unit = "seconds",
     description = "How long the octomap remembers the fading memory map. It remembers forever when this variable is <= 0."
   },{
-    id = "inflate_radius",
+    id = "robot_radius",
     reconfigurable = true,
     type = "double",
-    default = 0.25,
+    default = 0.28,
+    min = 0.0,
+    max = 1.0,
+    description = "Radius of the robot considered in the planner (default is 0.16 * sqrt(3))",
+    unit = "m"
+  },{
+    id = "collision_distance",
+    reconfigurable = true,
+    type = "double",
+    default = 0.02,
     min = 0.01,
     max = 1,
     unit = "meters",
-    description = "How much the octomap is inflated."
+    description = "Minimum distance margin to maintain away from obstacles."
   },{
     id = "cam_fov",
     reconfigurable = true,

astrobee/config/mobility/planner_qp.config

@@ -35,15 +35,6 @@ parameters = {
     max = 100,
     description = "Rate at which control state commands are created in plan",
     unit = "Hz"
-  }, {
-    id = "robot_radius",
-    reconfigurable = true,
-    type = "double",
-    default = 0.28,
-    min = 0.0,
-    max = 1.0,
-    description = "Radius of the robot considered in the planner (default is 0.16 * sqrt(3))",
-    unit = "m"
   }, {
     id = "two_d",
     reconfigurable = true,
@@ -92,5 +83,14 @@ parameters = {
     max = 10.0,
     description = "loop time for trajectory optimization replay",
     unit = "seconds"
+  }, {
+    id = "planner_distance",
+    reconfigurable = true,
+    type = "double",
+    default = 0.08,
+    min = 0.0,
+    max = 10.0,
+    description = "extra planner keepout distance, min is map tolerance",
+    unit = "seconds"
   }
 }

astrobee/config/worlds/granite.config

@@ -110,6 +110,7 @@ world_flight_modes = {
     speed = 0;
 
     -- Tolerances
+    tolerance_pos_endpoint   = 0.05;               -- Endpoint position (5 cm)
     tolerance_pos   = 0.1;                         -- Position (10 cm)
     tolerance_vel   = 0;                           -- Velocity (disabled)
     tolerance_att   = 0.1745;                      -- Attitude (10 degrees)
@@ -151,6 +152,7 @@ world_flight_modes = {
     speed = 2;
 
     -- Tolerances
+    tolerance_pos_endpoint   = 0.05;               -- Endpoint position (5 cm)
     tolerance_pos   = 0.2;                         -- Position (20 cm)
     tolerance_vel   = 0;                           -- Velocity (disabled)
     tolerance_att   = 0.3491;                      -- Attitude (20 degrees)
@@ -192,6 +194,7 @@ world_flight_modes = {
     speed = 3;
 
     -- Tolerances
+    tolerance_pos_endpoint   = 0.1;                -- Endpoint position (5 cm)
     tolerance_pos   = 0.2;                         -- Position (20 cm)
     tolerance_vel   = 0;                           -- Velocity (disabled)
     tolerance_att   = 0.3490;                      -- Attitude (20 degrees)
@@ -233,6 +236,7 @@ world_flight_modes = {
     speed = 1;
 
     -- Tolerances
+    tolerance_pos_endpoint   = 0.05;               -- Endpoint position (5 cm)
     tolerance_pos   = 0.1;                         -- Position (10 cm)
     tolerance_vel   = 0;                           -- Velocity (disabled)
     tolerance_att   = 0.1745;                      -- Attitude (10 degrees)
@@ -273,6 +277,7 @@ world_flight_modes = {
     speed = 3;
 
     -- Tolerances
+    tolerance_pos_endpoint   = 0.05;               -- Endpoint position (5 cm)
     tolerance_pos   = 0.1;                         -- Position (10 cm)
     tolerance_vel   = 0;                           -- Velocity (disabled)
     tolerance_att   = 0.1745;                      -- Attitude (10 degrees)

astrobee/config/worlds/iss.config

@@ -120,6 +120,7 @@ world_flight_modes = {
     speed = 0;
 
     -- Tolerances
+    tolerance_pos_endpoint   = 0.05;               -- Endpoint position (5 cm)
     tolerance_pos   = 0.1;                         -- Position (10 cm)
     tolerance_vel   = 0;                           -- Velocity (disabled)
     tolerance_att   = 0.1745;                      -- Attitude (10 degrees)
@@ -160,7 +161,8 @@ world_flight_modes = {
     speed = 2;
 
     -- Tolerances
-    tolerance_pos   = 0.3;                         -- Position (30 cm)
+    tolerance_pos_endpoint   = 0.05;               -- Endpoint position (5 cm)
+    tolerance_pos   = 0.25;                        -- Position (25 cm)
     tolerance_vel   = 0;                           -- Velocity (disabled)
     tolerance_att   = 0.3491;                      -- Attitude (20 degrees)
     tolerance_omega = 0;                           -- Omega (disabled)
@@ -200,6 +202,7 @@ world_flight_modes = {
     speed = 3;
 
     -- Tolerances
+    tolerance_pos_endpoint   = 0.1;                -- Endpoint position (5 cm)
     tolerance_pos   = 0.2;                         -- Position (20 cm)
     tolerance_vel   = 0;                           -- Velocity (disabled)
     tolerance_att   = 0.3490;                      -- Attitude (20 degrees)
@@ -240,6 +243,7 @@ world_flight_modes = {
     speed = 1;
 
     -- Tolerances
+    tolerance_pos_endpoint   = 0.05;               -- Endpoint position (5 cm)
     tolerance_pos   = 0.1;                         -- Position (10 cm)
     tolerance_vel   = 0;                           -- Velocity (disabled)
     tolerance_att   = 0.1745;                      -- Attitude (10 degrees)
@@ -280,6 +284,7 @@ world_flight_modes = {
     speed = 3;
 
     -- Tolerances
+    tolerance_pos_endpoint   = 0.05;               -- Endpoint position (5 cm)
     tolerance_pos   = 0.1;                         -- Position (10 cm)
     tolerance_vel   = 0;                           -- Velocity (disabled)
     tolerance_att   = 0.1745;                      -- Attitude (10 degrees)

astrobee/config/worlds/mgtf.config

@@ -103,6 +103,7 @@ world_flight_modes = {
     speed_gain = 0;
 
     -- Tolerances
+    tolerance_pos_endpoint   = 0.05;               -- Endpoint position (5 cm)
     tolerance_pos   = 0.1;                         -- Position (10 cm)
     tolerance_vel   = 0;                           -- Velocity (disabled)
     tolerance_att   = 0.1745;                      -- Attitude (10 degrees)
@@ -143,6 +144,7 @@ world_flight_modes = {
     speed = 2;
 
     -- Tolerances
+    tolerance_pos_endpoint   = 0.05;               -- Endpoint position (5 cm)
     tolerance_pos   = 0.1;                         -- Position (10 cm)
     tolerance_vel   = 0;                           -- Velocity (disabled)
     tolerance_att   = 0.1745;                      -- Attitude (10 degrees)
@@ -183,6 +185,7 @@ world_flight_modes = {
     speed = 3;
 
     -- Tolerances
+    tolerance_pos_endpoint   = 0.1;                -- Endpoint position (5 cm)
     tolerance_pos   = 0.2;                         -- Position (20 cm)
     tolerance_vel   = 0;                           -- Velocity (disabled)
     tolerance_att   = 0.3490;                      -- Attitude (20 degrees)
@@ -223,6 +226,7 @@ world_flight_modes = {
     speed = 1;
 
     -- Tolerances
+    tolerance_pos_endpoint   = 0.05;               -- Endpoint position (5 cm)
     tolerance_pos   = 0.1;                         -- Position (10 cm)
     tolerance_vel   = 0;                           -- Velocity (disabled)
     tolerance_att   = 0.1745;                      -- Attitude (10 degrees)
@@ -263,6 +267,7 @@ world_flight_modes = {
     speed = 2;
 
     -- Tolerances
+    tolerance_pos_endpoint   = 0.05;               -- Endpoint position (5 cm)
     tolerance_pos   = 0.1;                         -- Position (10 cm)
     tolerance_vel   = 0;                           -- Velocity (disabled)
     tolerance_att   = 0.1745;                      -- Attitude (10 degrees)