Merge pull request #486 from nasa/develop

Release 0.16.4

RELEASE.md

@@ -1,5 +1,12 @@
 # Releases
 
+## Release 0.16.4
+
+  * Auto-exposure
+  * Add splice tool
+  * Add arm deploy to bridge
+  * Various bug fixes
+
 ## Release 0.16.3
 
   * Added bag tools

astrobee.doxyfile

@@ -39,7 +39,7 @@ PROJECT_NAME           = "NASA Astrobee Robot Software"
 # control system is used.
 
 
-PROJECT_NUMBER         = 0.16.3
+PROJECT_NUMBER         = 0.16.4
 
 # 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

astrobee/CMakeLists.txt

@@ -18,7 +18,7 @@
 cmake_minimum_required(VERSION 3.0)
 project(astrobee)
 
-set(ASTROBEE_VERSION 0.16.3)
+set(ASTROBEE_VERSION 0.16.4)
 
 ## Compile as C++14, supported in ROS Kinetic and newer
 add_compile_options(-std=c++14)

astrobee/commands/freeFlyerPlanSchema.json

@@ -607,6 +607,18 @@
       "params": []
     },
 
+    {
+      "type": "CommandSpec",
+      "id": "Arm.deployArm",
+      "isRapidNative": false,
+      "notes": "Deploys arm. The motion sequence is:<ol><li>Pan to 0</li><li>Tilt to 0</li></ol><p/>See also Arm.armPanAndTilt for more discussion of the arm.",
+      "availableContexts": [
+        "teleop"
+      ],
+      "parent": "Command",
+      "params":[]
+    },
+
     {
       "type": "CommandSpec",
       "id": "Arm.stowArm",

astrobee/config/cameras.config

@@ -34,25 +34,27 @@ nav_cam = {
   device               = "/dev/nav_cam",
   gain                 = robot_camera_calibrations.nav_cam.gain,
   exposure             = robot_camera_calibrations.nav_cam.exposure,
+  auto_exposure        = false,
   calibration_gain     = 105,
   calibration_exposure = 30,
-  bayer_enable = false,
+  bayer_enable         = false,
   bayer_throttle_ratio = 3
 };
 
 dock_cam = {
-  width=1280,
-  height=960,
-  undistorted_width=3000,
-  undistorted_height=1800,
-  distortion_coeff=robot_camera_calibrations.dock_cam.distortion_coeff,
-  intrinsic_matrix=robot_camera_calibrations.dock_cam.intrinsic_matrix,
-  device="/dev/dock_cam",
-  gain=            robot_camera_calibrations.dock_cam.gain,
-  exposure=        robot_camera_calibrations.dock_cam.exposure,
+  width                = 1280,
+  height               = 960,
+  undistorted_width    = 3000,
+  undistorted_height   = 1800,
+  distortion_coeff     = robot_camera_calibrations.dock_cam.distortion_coeff,
+  intrinsic_matrix     = robot_camera_calibrations.dock_cam.intrinsic_matrix,
+  device               = "/dev/dock_cam",
+  gain                 = robot_camera_calibrations.dock_cam.gain,
+  exposure             = robot_camera_calibrations.dock_cam.exposure,
+  auto_exposure        = false,
   calibration_gain     = 105,
   calibration_exposure = 30,
-  bayer_enable = false,
+  bayer_enable         = false,
   bayer_throttle_ratio = 3
 };
 
@@ -101,6 +103,13 @@ sci_cam = {
 nav_cam_to_haz_cam_timestamp_offset = robot_camera_calibrations.nav_cam_to_haz_cam_timestamp_offset;
 nav_cam_to_sci_cam_timestamp_offset = robot_camera_calibrations.nav_cam_to_sci_cam_timestamp_offset;
 
+-- Auto-exposure parameters
+desired_msv = 2.5;            -- should be 2.5 as histogram size is 5
+k_p         = 25.0;           -- proportional gain
+k_i         = 8.0;            -- integral gain
+max_i       = 100.0;          -- maximum i
+tolerance   = 0.2;            -- msv tolerance to minimize exposure reconfigure
+
 -----------------------------------------------------
 --  PicoFlexx cameras support the following modes
 -----------------------------------------------------

astrobee/config/commands.config

@@ -132,6 +132,10 @@ commandConfig = {
             }
           }
         },
+        {
+          name="deployArm",
+          parameters={}
+        },
         {
           name="gripperControl",
           parameters={

astrobee/config/communications/ground_dds_ros_bridge.config

@@ -0,0 +1,61 @@
+-- Copyright (c) 2017, 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.
+
+-- param for each bridge component use the following params --
+--  ABREV = First Letters of Component Ex: ros_string_rapid_text_msg = RSRTM --
+--   use_ABREV        bool:   turn this component on? --
+--   sub_topic_ABREV  string: [RAPID: subscribe topic suffix] --
+--   pub_topic_ABREV  string: [RAPID: publish topic suffix] --
+--   queue_size_ABREV int:    queue size --
+
+-- Robot we are receiving data from
+connecting_robot = "Bumble"
+
+-- Domain id, needs to be 23 for space
+domain_id = 37
+
+-- If the namespace needs to be the connecting robot name, please set to true
+use_namespace = false
+
+-- rapid_access_control_state_ros_access_control_state => RACSRACS
+use_RACSRACS = true
+sub_topic_RACSRACS = ""
+
+-- rapid_guest_science_data_ros_guest_science_data => RGSDRGSD
+use_RGSDRGSD = true
+sub_topic_RGSDRGSD = ""
+
+-- rapid_image_ros_compressed_dock_cam_image => RIRCDCI
+use_RIRCDCI =  true
+sub_topic_RIRCDCI = "-Dock"
+
+-- rapid_image_ros_compressed_nav_cam_image => RIRCNCI
+use_RIRCNCI = true
+sub_topic_RIRCNCI = "-Navigation"
+
+-- rapid_image_ros_compressed_sci_cam_image => RIRCSCI
+use_RIRCSCI = true
+sub_topic_RIRCSCI = "-Science"
+
+-- rapid_position_ros_odom => RPRO --
+use_RPRO = true
+sub_topic_RPRO = ""
+
+-- ros_command_rapid_command => RCRC
+use_RCRC = true
+pub_topic_RCRC = ""
+

communications/dds_msgs/idl/AstrobeeCommandConstants.idl

@@ -113,6 +113,9 @@ module rapid {
       const rapid::String32 ARM_METHOD_ARM_PAN_AND_TILT_PARAM_WHICH = "which";
       const rapid::DataType ARM_METHOD_ARM_PAN_AND_TILT_DTYPE_WHICH = rapid::RAPID_STRING;
 
+      //@copy-declaration /** Deploys arm. The motion sequence is:<ol><li>Pan to 0</li><li>Tilt to 0</li></ol><p/>See also Arm.armPanAndTilt for more discussion of the arm. */
+      const rapid::String32 ARM_METHOD_DEPLOY_ARM = "deployArm";
+
       //@copy-declaration /** Opens or closes gripper.<p/>Astrobee's arm has a passively under-actuated gripper with a single motor. Opening the gripper commands the motor to pull on a pair of tendons that open the fingers. Closing the gripper cuts power to the motor; the fingers are spring-loaded to close. The first time the gripper opens, it calibrates the motor encoder position by fully opening until the fingers contact a hard stop, then relaxes slightly to its nominal open position. On later open cycles, it opens directly to the nominal open position. Note that the motor consumes significant power holding the gripper open, so it should be closed when not actively in use. Holding it open for extended periods (minutes) runs the risk of triggering a motor overtemperature fault, which disables the motor. */
       const rapid::String32 ARM_METHOD_GRIPPER_CONTROL = "gripperControl";
 

communications/ff_msgs/msg/CommandConstants.msg

@@ -65,6 +65,7 @@ string CMD_NAME_UNTERMINATE = unterminate
 string CMD_NAME_WAKE = wake
 string CMD_NAME_WAKE_SAFE = wakeSafe
 string CMD_NAME_ARM_PAN_AND_TILT = armPanAndTilt
+string CMD_NAME_DEPLOY_ARM = deployArm
 string CMD_NAME_GRIPPER_CONTROL = gripperControl
 string CMD_NAME_STOP_ARM = stopArm
 string CMD_NAME_STOW_ARM = stowArm

communications/ground_dds_ros_bridge/CMakeLists.txt

@@ -0,0 +1,115 @@
+# Copyright (c) 2017, 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.
+
+cmake_minimum_required(VERSION 3.0)
+project(ground_dds_ros_bridge)
+
+## Compile as C++14, supported in ROS Kinetic and newer
+add_compile_options(-std=c++14)
+
+if (USE_DDS)
+## Find catkin macros and libraries
+find_package(catkin2 REQUIRED COMPONENTS
+  nodelet
+  config_reader
+  ff_util
+  ff_msgs
+  ff_hw_msgs
+  dds_msgs
+)
+
+# System dependencies are found with CMake's conventions
+find_package(Eigen3 REQUIRED)
+find_package(Boost 1.54.0 QUIET REQUIRED COMPONENTS filesystem system iostreams
+thread program_options timer)
+
+list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}/../../cmake")
+
+if (USE_CTC)
+  set(SORACORE_ROOT_DIR ${ARM_CHROOT_DIR}/usr)
+else (USE_CTC)
+  set(SORACORE_ROOT_DIR /usr)
+endif (USE_CTC)
+
+set(MIRO_ROOT_DIR ${SORACORE_ROOT_DIR})
+
+SET(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
+SET(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
+
+# find Qt version according to OS
+find_program(LSB_RELEASE_EXEC lsb_release)
+execute_process(COMMAND "${LSB_RELEASE_EXEC}" --short --release OUTPUT_VARIABLE LSB_RELEASE_VERSION_SHORT OUTPUT_STRIP_TRAILING_WHITESPACE)
+
+if (${LSB_RELEASE_VERSION_SHORT} VERSION_GREATER 18.04)
+  find_package(Qt5Xml REQUIRED)
+else ()
+  find_package(Qt4 4.6.0 REQUIRED QtXml)
+endif ()
+
+find_package(Miro REQUIRED)
+find_package(RtiDds REQUIRED)
+find_package(Soracore REQUIRED)
+
+catkin_package(
+  LIBRARIES ground_dds_ros_bridge
+  CATKIN_DEPENDS roscpp message_runtime std_msgs ff_msgs dds_msgs
+)
+
+###########
+## Build ##
+###########
+
+# Specify additional locations of header files
+include_directories(
+  include
+  ${catkin_INCLUDE_DIRS}
+  ${EIGEN3_INCLUDE_DIRS}
+  ${RTIDDS_INCLUDE_DIR}
+  ${SORACORE_INCLUDE_DIRS}
+  ${MIRO_INCLUDE_DIR}
+  ${QT_INCLUDE_DIR}
+  ${QT_INCLUDE_DIR}/Qt
+  ${Boost_INCLUDE_DIRS}
+)
+
+file(GLOB cc_files
+     "src/*.cc"
+)
+
+# Declare C++ libraries
+add_library(ground_dds_ros_bridge
+  ${cc_files}
+)
+target_compile_definitions(ground_dds_ros_bridge PUBLIC ${RTIDDS_DEFINE_FLAGS})
+add_dependencies(ground_dds_ros_bridge ${catkin_EXPORTED_TARGETS})
+if (${LSB_RELEASE_VERSION_SHORT} VERSION_GREATER 18.04)
+  target_link_libraries(ground_dds_ros_bridge rapidIo Qt5::Xml ${Boost_LIBRARIES} ${catkin_LIBRARIES})
+else ()
+  target_link_libraries(ground_dds_ros_bridge rapidIo ${Boost_LIBRARIES} ${catkin_LIBRARIES})
+endif ()
+
+# Declare a C++ executable
+add_executable(ground_dds_ros_bridge_node
+  tools/ground_dds_ros_bridge_node.cc
+)
+add_dependencies(ground_dds_ros_bridge_node ${catkin_EXPORTED_TARGETS})
+target_link_libraries(ground_dds_ros_bridge_node ground_dds_ros_bridge ${catkin_LIBRARIES})
+
+else (USE_DDS)
+  find_package(catkin REQUIRED COMPONENTS)
+  catkin_package()
+endif (USE_DDS)