Merge remote-tracking branch 'marina/comms_bridge' into comms_bridge

.github/workflows/ci_pr.yml

@@ -23,22 +23,6 @@ jobs:
       run: ./scripts/docker/build.sh --xenial --remote
                                      astrobee test_astrobee
 
-  build-bionic:
-
-    runs-on: ubuntu-20.04
-
-    steps:
-    - uses: actions/checkout@v3
-      with:
-        fetch-depth: 0
-
-    - name: Checkout submodule
-      run: git submodule update --init --depth 1 description/media
-
-    - name: Build, test
-      run: ./scripts/docker/build.sh --bionic --remote
-                                     astrobee test_astrobee
-
   build-focal:
 
     runs-on: ubuntu-20.04

.github/workflows/ci_push.yml

@@ -44,42 +44,6 @@ jobs:
         echo "$command";
         eval "$command";
 
-  build-bionic:
-
-    runs-on: ubuntu-20.04
-
-    steps:
-    - uses: actions/checkout@v3
-
-    - name: Checkout submodule
-      run: git submodule update --init --depth 1 description/media
-
-    - name: Log in to registry
-      run: echo "${{ secrets.GITHUB_TOKEN }}" | docker login ghcr.io -u ${{ github.repository_owner }} --password-stdin
-
-    - name: Build, test, push docker
-      run: >
-        revision="latest";
-        build_arg="astrobee";
-        push_arg="";
-        branch=${GITHUB_HEAD_REF:-${GITHUB_REF#refs/heads/}};
-        if [ "${{ github.repository_owner }}" == "nasa" ]; then
-          if [ $branch == "develop" ]; then
-            push_arg="push_astrobee";
-          fi;
-          if [ $branch == "master" ]; then
-            export VERSION=`grep -w -m 1 "Release" RELEASE.md | awk '{print $3}'`;
-            revision="v${VERSION}";
-            build_arg="astrobee_base astrobee";
-            push_arg="push_astrobee_base push_astrobee";
-          fi;
-        fi;
-        command="./scripts/docker/build.sh --bionic --remote --revision ${revision} \
-                                     --owner ${{ github.repository_owner }} \
-                                     ${build_arg} test_astrobee ${push_arg}";
-        echo "$command";
-        eval "$command";
-
   build-focal:
 
     runs-on: ubuntu-20.04

.github/workflows/docker_push_latest_base.yml

@@ -26,24 +26,6 @@ jobs:
                                      --owner ${{ github.repository_owner }}
                                      astrobee_base astrobee test_astrobee push_astrobee_base
 
-  build-bionic:
-
-    runs-on: ubuntu-20.04
-
-    steps:
-    - uses: actions/checkout@v3
-
-    - name: Checkout submodule
-      run: git submodule update --init --depth 1 description/media
-
-    - name: Log in to registry
-      run: echo "${{ secrets.GITHUB_TOKEN }}" | docker login ghcr.io -u ${{ github.repository_owner }} --password-stdin
-
-    - name: Build base, build, test, push base docker
-      run: ./scripts/docker/build.sh --bionic
-                                     --owner ${{ github.repository_owner }}
-                                     astrobee_base astrobee test_astrobee push_astrobee_base
-
   build-focal:
 
     runs-on: ubuntu-20.04

INSTALL.md

@@ -6,9 +6,11 @@ Ubuntu 20.04 is the preferred host OS for most Astrobee developers to use.
 
 Here are the 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 the preferred host OS for most Astrobee developers to use. The Astrobee Facility team is currently preparing to upgrade the robots on ISS from Ubuntu 16.04 to Ubuntu 20.04, but we aren't yet ready to announce a deployment date for that upgrade.
-- [Ubuntu 18.04](http://releases.ubuntu.com/18.04): We are not aware of any current robot users that still need Ubuntu 18.04 support, and expect to discontinue support in the near future. New users should not select this host OS.
 - [Ubuntu 16.04](http://releases.ubuntu.com/16.04): The Astrobee robot hardware on ISS currently runs Ubuntu 16.04. Only developers with NASA internal access can cross-compile software to run on the robot, and must use 16.04 for that. Most developers shouldn't need to work with 16.04, especially when just getting started. Support will eventually be discontinued after the robot hardware on ISS is upgraded to Ubuntu 20.04.
-(Ubuntu 22.04 not supported)
+
+Specifically not supported:
+- ~~[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.
 
 Graphical interfaces will perform best if your host OS is running natively (not in a virtual machine).
 

astrobee/config/robots/honey.config

@@ -46,10 +46,10 @@ robot_geometry = {
 
 robot_camera_calibrations = {
   nav_cam = {
-    distortion_coeff = 0.99872,
+    distortion_coeff = 0.998757,
     intrinsic_matrix = {
-      607.64218, 0.0, 624.85552,
-      0.0, 606.53899, 514.57737,
+      610.12594, 0.0, 628.35064,
+      0.0, 610.12594, 514.89592,
       0.0, 0.0, 1.0
     },
     gain=100,

astrobee/launch/sim.launch

@@ -165,6 +165,9 @@
       <arg name="dds" value="$(arg dds)" />          <!-- Enable DDS         -->
       <arg name="gtloc" value="$(arg gtloc)" /> <!-- Use Ground Truth Localizer -->
     </include>
+
+    <!-- Default call initialize bias so config file is created if not already present -->
+    <node pkg="rosservice" type="rosservice" name="imu_calibration_default" args="call --wait $(arg ns)/gnc/ekf/init_bias" />
   </group>
 
   <!-- Auto-insert honey at a canned location -->
@@ -188,6 +191,9 @@
       <arg name="dds" value="$(arg dds)" />          <!-- Enable DDS         -->
       <arg name="gtloc" value="$(arg gtloc)" /> <!-- Use Ground Truth Localizer -->
     </include>
+
+    <!-- Default call initialize bias so config file is created if not already present -->
+    <node pkg="rosservice" type="rosservice" name="imu_calibration_honey" args="call --wait /honey/gnc/ekf/init_bias" />
   </group>
 
   <!-- Auto-insert bumble at a canned location -->
@@ -211,6 +217,9 @@
       <arg name="dds" value="$(arg dds)" />          <!-- Enable DDS         -->
       <arg name="gtloc" value="$(arg gtloc)" /> <!-- Use Ground Truth Localizer -->
     </include>
+
+    <!-- Default call initialize bias so config file is created if not already present -->
+    <node pkg="rosservice" type="rosservice" name="imu_calibration_bumble" args="call --wait /bumble/gnc/ekf/init_bias" />
   </group>
 
   <!-- Auto-insert queen at a canned location -->
@@ -234,9 +243,10 @@
       <arg name="dds" value="$(arg dds)" />          <!-- Enable DDS         -->
       <arg name="gtloc" value="$(arg gtloc)" /> <!-- Use Ground Truth Localizer -->
     </include>
+
+    <!-- Default call initialize bias so config file is created if not already present -->
+    <node pkg="rosservice" type="rosservice" name="imu_calibration_queen" args="call --wait /queen/gnc/ekf/init_bias" />
   </group>
 
-  <!-- Default call initialize bias so config file is created if not already present -->
-  <node pkg="rosservice" type="rosservice" name="imu_calibration" args="call --wait /gnc/ekf/init_bias" />
 
 </launch>

description/description/urdf/model_carriage.urdf.xacro

@@ -25,13 +25,13 @@
       <!-- ixx and iyy are dummy values                        -->
       <inertia ixx="0.694860833" ixy="0.0" ixz="0.0" iyy="0.694860833" iyz="0.0" izz="0.0923"/>
     </inertial>
-    <visual name="carriage_visual">
+    <visual>
       <origin xyz="0 0 -0.02" rpy="0 0 0" />
       <geometry>
         <mesh filename="package://astrobee_freeflyer/meshes/carriage.dae"/>
       </geometry>
     </visual>
-    <collision name="carriage_collision">
+    <collision>
       <origin xyz="0 0 -0.02" rpy="0 0 0" />
       <geometry>
         <mesh filename="package://astrobee_freeflyer/meshes/carriage.dae"/>
@@ -49,7 +49,7 @@
     <child
       link="${prefix}carriage" />
   </joint>
-  <gazebo reference="carriage">
+  <gazebo reference="${prefix}carriage">
     <kp>100000.0</kp>
     <kd>100000.0</kd>
     <mu1>0.0</mu1>

doc/general_documentation/INSTALL.md

@@ -107,7 +107,7 @@ instead:
 
     ./src/scripts/configure.sh -l -F -D -p $INSTALL_PATH -w $WORKSPACE_PATH
 
-*Note: If a workspace is specified but not an explicit install distectory,
+*Note: If a workspace is specified but not an explicit install directory,
 install location will be $WORKSPACE_PATH/install.*
 
 *Note: Make sure you use the -F and -D flags. If these flags are not used, the

doc/general_documentation/NASA_INSTALL.md

@@ -34,7 +34,7 @@ your life greatly.
 Verify that you are in this situation with the command below should succeed
 (certificate will be added later; remove the Release.gpg file after being fetched).
 
-    wget -v --no-check-certificate http://astrobee.ndc.nasa.gov/software/dists/xenial/Release.gpg
+    wget -v --no-check-certificate https://astrobee.ndc.nasa.gov/software_new/dists/focal/Release.gpg
 
 Before running the scripts in `scripts/setup` below, set this variable:
 
@@ -155,7 +155,7 @@ instead:
 
     ./scripts/configure.sh -l -p $INSTALL_PATH -w $WORKSPACE_PATH
 
-*Note: If a workspace is specified but not an explicit install distectory,
+*Note: If a workspace is specified but not an explicit install directory,
 install location will be $WORKSPACE_PATH/install.*
 
 
@@ -183,7 +183,7 @@ For more information on running the simulator and moving the robot, please see t
 
 ## Cross-compile - Running the code on a real robot
 
-In order to do this, you will need to followe the cross-compile build
+In order to do this, you will need to follow the cross-compile build
 instructions.
 
 ### Cross-compile setup
@@ -202,11 +202,18 @@ Next, download the cross toolchain and install the chroot:
 
     mkdir -p $ARMHF_TOOLCHAIN
     cd $HOME/arm_cross
-    $ASTROBEE_WS/src/submodules/platform/fetch_toolchain.sh
-    $ASTROBEE_WS/src/submodules/platform/rootfs/make_chroot.sh xenial dev $ARMHF_CHROOT_DIR
 
-*Note: The last script shown above needs the packages `qemu-user-static` (not
-`qemu-arm-static`) and `multistrap` to be installed (can be installed through apt).*
+    DIST=$(. /etc/os-release && echo $UBUNTU_CODENAME)
+    if [ ${DIST} == "kinetic" ]; then
+        # Use pre-built toolchain for 16.04
+        $ASTROBEE_WS/src/submodules/platform/fetch_toolchain.sh
+    else
+        # Use packaged toolchain for 20.04
+        sudo apt install -y gcc-arm-linux-gnueabihf g++-arm-linux-gnueabihf
+    fi
+    sudo apt install -y qemu-user-static multistrap
+
+    $ASTROBEE_WS/src/submodules/platform/rootfs/make_chroot.sh ${DIST} dev $ARMHF_CHROOT_DIR
 
 ### Cross-compile build
 

doc/general_documentation/code_style.md

@@ -1,3 +1,3 @@
 \page astrobee-code-style Astrobee code style
 
-The Astrobee code uses [cpplint](https://en.wikipedia.org/wiki/Cpplint) to enforce a consistent and uniform coding style. Code which fails this tool cannot be committed with Git. It is suggested that the [clang-format-8](https://launchpad.net/ubuntu/bionic/+package/clang-format-8) program be installed on your machine. The *git commit* command will invoke this tool which will fix most (but not all) of the formatting errors using as a guide the ``.clang-format`` style file at the base of the Astrobee repository.
+The Astrobee code uses [cpplint](https://en.wikipedia.org/wiki/Cpplint) to enforce a consistent and uniform coding style. Code which fails this tool cannot be committed with Git. It is suggested that the [clang-format-8](https://launchpad.net/ubuntu/focal/+package/clang-format-8) program be installed on your machine. The *git commit* command will invoke this tool which will fix most (but not all) of the formatting errors using as a guide the ``.clang-format`` style file at the base of the Astrobee repository.

localization/camera/src/camera_model.cc

@@ -70,12 +70,12 @@ void CameraModel::SetTransform(const Eigen::Affine3d & cam_t_global) {
 
 double CameraModel::GetFovX(void) const {
   // This is an approximation since it doesn't take in account lens distortion
-  return atan(1.0 / (params_.GetFocalVector()[0] * params_.GetDistortedHalfSize()[0])) * 2;
+  return atan(params_.GetDistortedHalfSize()[0] / params_.GetFocalVector()[0] ) * 2;
 }
 
 double CameraModel::GetFovY(void) const {
   // This is an approximation since it doesn't take in account lens distortion
-  return atan(1.0 / (params_.GetFocalVector()[1] * params_.GetDistortedHalfSize()[1])) * 2;
+  return atan(params_.GetDistortedHalfSize()[1] / params_.GetFocalVector()[1] ) * 2;
 }
 
 const camera::CameraParameters& CameraModel::GetParameters() const {

localization/localization_common/scripts/localization_common/utilities.py

@@ -20,8 +20,6 @@
 import os
 import subprocess
 
-import pandas as pd
-
 
 # Forward errors so we can recover failures
 # even when running commands through multiprocessing
@@ -68,6 +66,9 @@ def create_directory(directory=None):
 
 
 def load_dataframe(files):
+    # Importing the module only within this function
+    import pandas as pd
+
     dataframes = [pd.read_csv(file) for file in files]
     dataframe = pd.concat(dataframes)
     return dataframe

scripts/calibrate/intrinsics_calibrate.py

@@ -222,7 +222,7 @@ def calibrate_camera(
         return None
 
     return (
-        bag_dir + "/camchain-" + bag_name + ".yaml"
+        bag_dir + "/" + bag_name + "-camchain.yaml"
     )  # The file where kalibr writes its output
 
 

scripts/calibrate/readme.md

@@ -7,52 +7,17 @@ This folder contains various scripts for calibration.
 - Build and install the Astrobee code on the robot.
 - Install Kalibr on your computer.
 
-## Installation instructions for Kalibr for Ubuntu 18.04
+## Installation instructions for Kalibr for Ubuntu 20.04
 
-    sudo apt install python-rosinstall ipython python-software-properties \
-            python-git ipython python-catkin-tools
-    sudo apt install libopencv-dev ros-melodic-vision-opencv
+Install Kalibr following the instructions at:
 
-# Install pip and use it to install python packages
+https://github.com/ethz-asl/kalibr
 
-We assume that Python 2 is used.
-
-    curl https://bootstrap.pypa.io/get-pip.py -o get-pip.py
-    sudo python get-pip.py
-    sudo -H pip install testresources
-    sudo -H pip install python-igraph==0.8 --upgrade
-    sudo -H pip install  numpy==1.15.0 opencv-python==4.2.0.32
-
-If necessary, pip and the other packages can be installed in user
-space. The PYTHONPATH may need to be set for such packages.
-The pip flags --user, --force, and --verbose may be useful.
-
-Kalibr uses Python 2, and many packages are transitioning to Python 3,
-so some effort may be needed to install the Python 2 dependencies.
-
-    # Build using catkin
-    export KALIBR_WS=$HOME/source/kalibr_workspace
-    mkdir -p $KALIBR_WS/src
-    cd $KALIBR_WS
-    source /opt/ros/melodic/setup.bash
-    catkin init
-    catkin config --extend /opt/ros/melodic
-    catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release
-    cd $KALIBR_WS/src
-    git clone git@github.com:oleg-alexandrov/Kalibr.git
-
-If the above cloning operation fails, it is likely due to some ssh settings on your machine not being as GitHub expects. Then try:
+However, check out our fork which supports the assymetric aprilgrid
+installed on Astrobee's dock:
 
     git clone https://github.com/oleg-alexandrov/Kalibr.git
 
-In either case, continue as follows:
-
-    # This line takes care of catkin not finding numpy.
-    ln -s /usr/local/lib/python2.7/dist-packages/numpy/core/include/numpy \
-      $KALIBR_WS/src/Kalibr/Schweizer-Messer/numpy_eigen/include
-
-    catkin build -DCMAKE_BUILD_TYPE=Release -j4
-
 # Prepare the environment. This is expected for all the steps below.
 
 Run, for example:

scripts/configure.sh

@@ -266,8 +266,6 @@ ff_path=`canonicalize ${rootpath}`
 DIST=`cat /etc/os-release | grep -oP "(?<=VERSION_CODENAME=).*"`
 if [ "$DIST" = "xenial" ]; then
     ros_version=kinetic
-elif [ "$DIST" = "bionic" ]; then
-    ros_version=melodic
 elif [ "$DIST" = "focal" ]; then
     ros_version=noetic
 fi