Release 0.14.3 (#191)

 * Rotation fallback fix
  * Unified install instructions and Ubuntu 18 nasa install
  * Various other minor fixes
  * Note, Perching does not work in this release, use another version for this.

.github/workflows/docs.yaml

@@ -8,7 +8,7 @@ on:
 
 jobs:
   build_and_push_docs:
-    runs-on: ubuntu-latest
+    runs-on: ubuntu-18.04
 
     steps:
     - name: Checkout
@@ -22,9 +22,10 @@ jobs:
         ref: gh-pages
     - name: Install dependencies
       run: |
-        sudo apt-get install python-bson
-        sudo apt-get install flex
-        sudo apt-get install graphviz
+        sudo apt-get install -y bison
+        sudo apt-get install -y flex
+        sudo apt-get install -y graphviz
+        sudo apt-get install -y python-setuptools
     - name: Install doxygen
       run: |
         wget 'https://sourceforge.net/projects/doxygen/files/rel-1.8.20/doxygen-1.8.20.src.tar.gz'

CMakeLists.txt

@@ -18,7 +18,7 @@
 cmake_minimum_required(VERSION 3.0)
 project(Astrobee)
 
-set(ASTROBEE_VERSION 0.14.1)
+set(ASTROBEE_VERSION 0.14.3)
 
 # Define our options
 option(USE_CCACHE
@@ -209,9 +209,17 @@ find_package(Gflags REQUIRED)
 ADD_DEFINITIONS(-DFREEFLYER_GFLAGS_NAMESPACE=${GFLAGS_NAMESPACE})
 enable_testing()
 
+if (USE_CTC)
+  find_program(LSB_RELEASE_EXEC lsb_release)
+  execute_process(COMMAND "${LSB_RELEASE_EXEC}" --short --codename OUTPUT_VARIABLE LSB_RELEASE_VERSION_SHORT OUTPUT_STRIP_TRAILING_WHITESPACE)
+  if("${LSB_RELEASE_VERSION_SHORT}" STREQUAL "bionic")
+    set(Protobuf_PROTOC_EXECUTABLE /usr/local/bin/protoc)
+  endif()
+endif (USE_CTC)
+
 find_package(Protobuf REQUIRED)
 if (NOT PROTOBUF_PROTOC_EXECUTABLE)
-  message(FATAL_ERROR "Could not find system's protoc execuable")
+  message(FATAL_ERROR "Could not find system's protoc executable")
 endif (NOT PROTOBUF_PROTOC_EXECUTABLE)
 
 find_package(Ceres REQUIRED)
@@ -239,6 +247,11 @@ if (${OpenCV_VERSION} MATCHES "3.3.1")
     endif()
   endforeach(__cvcomponent)
 endif()
+if (USE_CTC)
+  foreach(__cvcomponent ${OpenCV_LIB_COMPONENTS})
+    set(OpenCV_LIBS ${OpenCV_LIBS} "${OpenCV_INSTALL_PATH}/lib/arm-linux-gnueabihf/lib${__cvcomponent}3.so")
+  endforeach(__cvcomponent)
+endif (USE_CTC)
 set(OpenCV_LIBRARIES ${OpenCV_LIBS})
 
 find_package(dbow2 REQUIRED)
@@ -308,7 +321,13 @@ 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 tf tf2 tf2_ros rosbag nodelet rviz)
+
+  if (USE_CTC)
+    find_package(catkin2 COMPONENTS roscpp message_generation std_msgs geometry_msgs sensor_msgs cv_bridge image_transport tf tf2 tf2_ros rosbag nodelet)
+  else ()
+    find_package(catkin2 COMPONENTS roscpp message_generation std_msgs geometry_msgs sensor_msgs cv_bridge image_transport tf tf2 tf2_ros rosbag nodelet rviz)
+  endif (USE_CTC)
+
   find_package(Qt5 ${rviz_QT_VERSION} REQUIRED Core Widgets)
 
   if (IS_BAMBOO_BUILD)

RELEASE.md

@@ -1,5 +1,12 @@
 # Releases
 
+## Release 0.14.3
+
+  * Rotation fallback fix
+  * Unified install instructions and Ubuntu 18 nasa install
+  * Various other minor fixes
+  * Note, Perching does not work in this release, use another version for this.
+
 ## Release 0.14.1
 
   * Dynamic IMU Filtering

astrobee.doxyfile

@@ -39,7 +39,7 @@ PROJECT_NAME           = "NASA Astrobee Robot Software"
 # control system is used.
 
 
-PROJECT_NUMBER         = 0.14.1
+PROJECT_NUMBER         = 0.14.3
 
 # 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
@@ -912,7 +912,8 @@ EXAMPLE_RECURSIVE      = NO
 # \image command).
 
 IMAGE_PATH             = doc/images \
-                          doc/gen/png
+                         doc/gen/png \
+                         localization/sparse_mapping
 
 # The INPUT_FILTER tag can be used to specify a program that doxygen should
 # invoke to filter for each input file. Doxygen will invoke the filter program

astrobee/config/commands.config

@@ -66,10 +66,6 @@ commandConfig = {
           name="resetEkf",
           parameters={}
         },
-        {
-          name="shutdown",
-          parameters={}
-        },
         {
           name="switchLocalization",
           parameters={
@@ -113,10 +109,6 @@ commandConfig = {
               type="RAPID_INT"
             }
           }
-        },
-        {
-          name="wipeHlp",
-          parameters={}
         }
       },
       name="AdminType"
@@ -162,24 +154,6 @@ commandConfig = {
     },
     {
       commands={
-        {
-          name="clearData",
-          parameters={
-            {
-              key="dataMethod",
-              type="RAPID_STRING"
-            }
-          }
-        },
-        {
-          name="downloadData",
-          parameters={
-            {
-              key="dataMethod",
-              type="RAPID_STRING"
-            }
-          }
-        },
         {
           name="setDataToDisk",
           parameters={}
@@ -193,15 +167,6 @@ commandConfig = {
             }
           }
         },
-        {
-          name="stopDownload",
-          parameters={
-            {
-              key="dataMethod",
-              type="RAPID_STRING"
-            }
-          }
-        },
         {
           name="stopRecording",
           parameters={}
@@ -363,19 +328,6 @@ commandConfig = {
     },
     {
       commands={
-        {
-          name="genericCommand",
-          parameters={
-            {
-              key="commandName",
-              type="RAPID_STRING"
-            },
-            {
-              key="param",
-              type="RAPID_STRING"
-            }
-          }
-        },
         {
           name="setCamera",
           parameters={
@@ -463,6 +415,15 @@ commandConfig = {
             }
           }
         },
+        {
+          name="setEnableReplan",
+          parameters={
+            {
+              key="enableReplan",
+              type="RAPID_BOOL"
+            }
+          }
+        },
         {
           name="setFlashlightBrightness",
           parameters={
@@ -561,15 +522,6 @@ commandConfig = {
             }
           }
         },
-        {
-          name="setTimeSync",
-          parameters={
-            {
-              key="setTimeSync",
-              type="RAPID_BOOL"
-            }
-          }
-        },
         {
           name="setZones",
           parameters={}

astrobee/config/graph_localizer.config

@@ -17,7 +17,7 @@
 require "context"
 
 -- Graph Value Options
-ideal_duration = 3.5 
+ideal_duration = 3.25 
 --  Don't leave less than min_num_states in window if possible
 min_num_states = 3
 max_num_states = 20 
@@ -42,7 +42,6 @@ huber_k = world_huber_k
 ignore_gravity = true 
 estimate_world_T_dock_using_loc = true
 -- Applies to factor adders but not standstill detection
-optical_flow_measurement_spacing = 2 
 -- Sanity Checker options
 -- TODO(rsoussan): Create seperate config for sanity checker?
 check_pose_difference = true 
@@ -58,15 +57,19 @@ starting_prior_quaternion_stddev = 0.01
 starting_prior_velocity_stddev = 0.01
 starting_prior_accel_bias_stddev = 0.001
 starting_prior_gyro_bias_stddev = 0.001
+-- Threshold Bias Uncertainies
+threshold_bias_uncertainty = true
+accel_bias_stddev_threshold = 0.025
+gyro_bias_stddev_threshold = 0.025
 -- Lost Threshold
 position_cov_log_det_lost_threshold = 0
 orientation_cov_log_det_lost_threshold = 0
 -- Feature Tracker
-feature_tracker_sliding_window_duration = 3.5 
+feature_tracker_sliding_window_duration = 3.25 
 -- Standstill
 max_standstill_feature_track_avg_distance_from_mean = 0.075
 standstill_min_num_points_per_track = 4 
-standstill_feature_tracker_sliding_window_duration = 1 
+standstill_feature_track_duration = 1 
 standstill_adder_add_velocity_prior = true 
 standstill_adder_add_pose_between_factor = true 
 standstill_adder_prior_velocity_stddev = 0.01
@@ -82,13 +85,16 @@ smart_projection_adder_dynamic_outlier_rejection_threshold = 50
 smart_projection_adder_retriangulation_threshold = 1e-5
 smart_projection_adder_verbose_cheirality = false 
 smart_projection_adder_robust = true 
-smart_projection_adder_max_num_factors = 10 
+smart_projection_adder_max_num_factors = 13
 smart_projection_adder_min_num_points = 2 
-smart_projection_adder_max_num_points_per_factor = 5 
-smart_projection_adder_rotation_only_fallback = false 
+smart_projection_adder_max_num_points_per_factor = 7 
+smart_projection_adder_measurement_spacing = 2 
+smart_projection_adder_feature_track_min_separation = 0 
+smart_projection_adder_rotation_only_fallback = true 
 smart_projection_adder_splitting = true 
 smart_projection_adder_scale_noise_with_num_points = true 
 smart_projection_adder_noise_scale = 2 
+smart_projection_adder_use_allowed_timestamps = true 
 -- Optical Flow Projection Factors 
 projection_adder_enabled = false 
 projection_adder_enable_EPI = false 
@@ -101,8 +107,8 @@ projection_adder_point_prior_translation_stddev = 0.1
 -- Loc Factors
 loc_adder_add_pose_priors = false 
 loc_adder_add_projections = true 
-loc_adder_prior_translation_stddev = 0.01
-loc_adder_prior_quaternion_stddev = 0.01
+loc_adder_prior_translation_stddev = 0.06
+loc_adder_prior_quaternion_stddev = 0.06
 loc_adder_min_num_matches = 5
 loc_adder_max_num_factors = 50  
 loc_adder_scale_pose_noise_with_num_landmarks = true 

astrobee/config/hw/pmc_actuator.config

@@ -42,6 +42,9 @@ i2c_retries = 3
 -- Control rate in Hz
 control_rate_hz = 62.5
 
+-- Maximum PMC time without control input
+max_timeout = 2.0
+
 -- The null speed and nozzle positions
 null_speed = 0
 null_nozzle_positions = {128, 128, 128, 128, 128, 128}

astrobee/config/management/data_bagger.config

@@ -51,6 +51,7 @@ default_topics = {{topic="gnc/ctl/traj", 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="rosout", downlink="immediate", frequency=-1},
                   {topic="robot_name", downlink="immediate", frequency=-1}}
 
 require "context"

astrobee/config/robots/bumble.config

@@ -25,16 +25,15 @@ robot_i2c_bus = "/dev/i2c-1"
 robot_imu_drdy_pin = 4
 
 robot_geometry = {
--- Placeholder transforms, not accurate!
-  hazcam_to_navcam_transform = transform(vec3(0.08017845188659993, 0.0015130070850712233, -0.0037397072731650606), quat4(-0.010795173083773568, -0.020686270289023867, 0.99972637753705862, -0.0016469718428887884)),
-  scicam_to_hazcam_transform = transform(vec3(0.039812511450892832, 0.017762378646844504, -0.0039477526753304197), quat4(-0.0017211102261497006, -0.023078433050076921, 0.99972939958575946, -0.0023561221189618764)),
+  hazcam_to_navcam_transform = transform(vec3(0.070656217, -0.0053120391, -0.0086391367), quat4(-0.0033938631, 0.011939978, 0.99990009, -0.0067619677)),
+  scicam_to_hazcam_transform = transform(vec3(0.043949838, -0.026925687, -0.14459291), quat4(-0.009399956, 0.015955961, 0.99982772, -0.0012581665)),
   navcam_to_hazcam_timestamp_offset = -0.02,
-  scicam_to_hazcam_timestamp_offset = -0.31,
-  hazcam_depth_to_image_transform = {
-     0.9672,  0.0017,  0.0111, -0.0060,
-    -0.0016,  0.9672, -0.0065,  0.0040,
-    -0.0112,  0.0065,  0.9672, -0.0133,
-     0.0,     0.0,     0.0,     1.0},
+  scicam_to_hazcam_timestamp_offset = 0.5,
+ hazcam_depth_to_image_transform = {
+    0.91122714, -0.00020224138, -0.00066071236, 0.00091477566,
+    0.00020680677, 0.91120557, 0.0063030044, -0.0072143461,
+    0.00065929762, -0.0063031525, 0.91120536, -0.0035329091,
+    0, 0, 0, 1},
 
 -- Engineering positions with idealized orientations
   perch_cam_transform      = transform(vec3(-0.1331, 0.0509, -0.0166), quat4(0.000, -0.70710678118, 0.000, 0.70710678118)),-- placeholder, not valid!
@@ -77,21 +76,21 @@ robot_camera_calibrations = {
     exposure=150
   },
   haz_cam = {
-    distortion_coeff = {-0.411106, 0.375288, -0.00080993, -0.00817328},
+    distortion_coeff = {-0.050689743, -1.1461691, -0.001373226, -0.00056427513},
     intrinsic_matrix = {
-      188.27394, 0.0, 117.94881,
-      0.0, 186.18359, 87.740547,
+      215.88697, 0.0, 114.12908,
+      0.0, 215.88697, 86.547331,
       0.0, 0.0, 1.0
     },
     gain=50,
     exposure=150
   },
 -- Placeholder for sci_cam, not accurate!
   sci_cam = {
-    distortion_coeff = {0.128628, -0.167456, 0.00213421, -0.00262211},
+    distortion_coeff = {0.10733913, -0.10935864, 0.0010663099, 0.0010407278},
     intrinsic_matrix = {
-      859.44015, 0.0, 754.24485,
-      0.0, 849.35466, 487.7349,
+      1138.4943, 0.0, 680.36447,
+      0.0, 1138.4943, 534.00133,
       0.0, 0.0, 1.0
     },
     gain=50,

astrobee/config/tools/graph_bag.config

@@ -33,4 +33,5 @@ ar_min_msg_spacing = 0
 -- graph_localizer_simulator
 optimization_time = 0.30
 -- Other
-save_optical_flow_images = false;
+save_optical_flow_images = false
+log_relative_time = false

astrobee/config/worlds/granite.config

@@ -151,9 +151,9 @@ world_flight_modes = {
     speed = 2;
 
     -- Tolerances
-    tolerance_pos   = 0.15;                        -- Position (10 cm)
+    tolerance_pos   = 0.2;                         -- Position (20 cm)
     tolerance_vel   = 0;                           -- Velocity (disabled)
-    tolerance_att   = 0.1745;                      -- Attitude (10 degrees)
+    tolerance_att   = 0.3491;                      -- Attitude (20 degrees)
     tolerance_omega = 0;                           -- Omega (disabled)
     tolerance_time  = 1.0;                         -- Time (for sync check)
 

astrobee/config/worlds/iss.config

@@ -160,9 +160,9 @@ world_flight_modes = {
     speed = 2;
 
     -- Tolerances
-    tolerance_pos   = 0.1;                         -- Position (10 cm)
+    tolerance_pos   = 0.4;                         -- Position (40 cm)
     tolerance_vel   = 0;                           -- Velocity (disabled)
-    tolerance_att   = 0.1745;                      -- Attitude (10 degrees)
+    tolerance_att   = 0.3491;                      -- Attitude (20 degrees)
     tolerance_omega = 0;                           -- Omega (disabled)
     tolerance_time  = 1.0;                         -- Time (for sync check)