fixed (updated) ROS debian package repo GPG key #11
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
|
Hi! |
marinagmoreira
pushed a commit
that referenced
this pull request
Apr 7, 2021
* added buffer sizes to config for graph loc and added max loc factor size * added butter 20_83 notch filter * added dynamic imu filter * added more filters for dynamic filter * initial feature track addition * Dynamic imu filtering (#1) * added butter 20_83 notch filter * added dynamic imu filter * added more filters for dynamic filter * added flight mode switching to graph loc * moved fan speed mode to loc measurements * added identity filter * added initial fan speed mode param to localizer * added 15_83 notch filter * added fan speed mode to graph loc state * added flight mode sub to imu augmentor * added flight mode to loc offline replay * added flight mode to graph bag replay * added flight mode to merge bags script * Better feature counts (#2) * added more stats to graph loc msg * added ar feature count * moved ar and vl feature counts to before valid check * updated plt results feature counts * added error if loc state msg arrives too late to imu augmentor * added and updated merge bag scripts * reorganized imu filters, O1 * added 3rd order butter filters * added 5th order butter filter * moved 5th order butter filters to butter05 * added max num points per factor for smart factor, increased feature duration to 1 * added higher order butter filters * added imu bias tester velocities to plots * reference times in plot results to bag start time * added more spacing on ymin of feature plots * added integrated velocities to graph plots * added butter 7th order imu filter * added butter 10 filter * seperated imu configs for graph loc * Optical flow measureent spacing (#3) * added of measurement spacing * moved standstill configs to config section, lessened min num points for standstill to 4 * updated measurement spacing and durations for graph opt * increased durations to 3.5 * fixed latest bias estimation bug * Velocity rmse (#4) * added rmse integrated check * adding plotting integrated rmses * adding plotting of integrated imu aug velocities * added orientation rmse * added orientation to bag sweep results * added integrated velocity to ekf results * removed ekf y limits in plots * updated orientation rmse name * don't save vl features with < 5 landmarks, always prefer image features in ekf bag * added orientation rmse check in ekf graph * fixed checking for features in ekf bag issue * ignoring missing indices in ekf bag * added tolerance option for rmse comparisson * added imu augmented stats to csv * added imu aug to plot bag sweep results * updated parameter sweep scripts to plot imu aug results as well * updated graph bag scripts to be compatible with multiple param sweeps * added saving imu bias tester stats and plotting in plot results * added rmse plot fcn to bag sweep results * split up bag sweep results fcns * added imu bias tester plots to bag sweep plotter * added imu bias tester to param sweep results * added vector3d plotter helper * added splitting plots * added orientations to vector3d plotter * added 3 axis plotting of more in plot results * tuning results (#5) * 125hz filters (#6) * added 125hz filters * added sample rate option to imu analyzer * fixed imu analyzer top limit * Filter changes (#7) * added 5th order butter filter * added accounting for strings as variable sweeps * 125hz filters2 (#8) * added o3 125hz filters * added 125hz o5 filters * switched to 125hz for imu sampling * More eval options (#9) * added option for second bagfile for groundtruth * added groundtrtuh bag to bag and parameter sweeps * updated bag and param sweep script * Add start and end times to rmse eval (#10) * added start and end times for rmse calc to plo results and rmse utils * added start and end time to bag sweep * added start and end time for imu bias tester * added start and end time to parameter sweep * added start and end time to bag and param sweep * Add avg op and update times (#11) * added avg opt and update times script * added script to plot all results from bags * fixed bug in integrate velocities * removed unecessary if statement in optical flow callback * removed butterworht explicit filter * reverted graph loc config * updates to feature tracker * updated remove feature points in feature tracker * updated valid pointset and avg dist from mean fcn * added latest points fcn to feature track * updated add smart factor to use feature track points * moved measurement spacing to smart factor * removed measurement skipping in of fcn * removed standstill feature tracker * fixed compile errors * more compile fixes * more compile fixes * more fixes * updated rotation adder * updated projection adder * updated loc rviz display * added num tracks fcn * fixed num tracks fcn, iterate in reverse order in smart factor adder * break earlier from smart factor adding * added spacing checks to feature track * added spacing adjustment to smart factor adder * fixed bug dropping one too many imu measurements * added option for min spacing of feature tracks * added spacing option for feature track adding * fixed min sep bug * adjusted min separation, reverted save of images * added max spacing fcn * changed best spacing to clostest, using max spacing in smart factor adder * turned of scale noise with num points * added trim bag script * changed smart factor noise scale to 20 * updated separation and loc prior stddevs * increase num processes for bag and param sweep * added flight mode to merge bags script * zeroed separation param * Added beh topics to merge bags * updated noise scaling configs * increased num smart factors
marinagmoreira
added a commit
that referenced
this pull request
Jul 22, 2021
* Dockerfile action (#37) Github action to build and test docker images. Split dockerfiles into multiple sections. * Documentation Improvements (#31) * Many documentation updates * Action to push documentation html to gh-pages branch on push to develop Co-authored-by: Marina Moreira <marina.moreira@nasa.gov> Co-authored-by: Brian Coltin <brian.coltin@nasa.gov> * correction on the github action (#40) * trying to understand why action failed * cleaning up and adding the folder in a different way * removing git status Co-authored-by: Marina Moreira <marina.moreira@nasa.gov> * New 3D model reference and partial correction of Astrobee length (#42) Co-authored-by: Marina Moreira <marina.moreira@nasa.gov> * keepout/keepin zones update * keepout/keepin zones update2 * Reuse control points txt file and file input to hugin (#46) * Move astrobee common from submodule (#45) * Integrated the astrobee common repo into the astrobee repo. * IDL files can now be found in communications/dds_msgs/idl. * The command dictionary and documentation on how to add a ground command can be found in doc/general_documentation. * Clang format lint action (#44) * Make astrobee media submodule (#48) * Also make android optional. * ply format readable * Added files needed for running the dds ros bridge. (#51) When the astrobee common files got moved into Astrobee, all files were added to git but I forgot there was a gitingore to ignore two config files needed for dds ros bridge. The gitignore has been removed and the files added. * Add return_dock flag (#50) * add return_dock flag * Changed auto return in executive. The auto return command now auto returns to the dock and docks on berth 1. The documentation has been updated to reflect this change. Co-authored-by: Katie Browne <kathryn.browne@nasa.gov> * Fix unit tests (#47) Fix unit tests and run them in github continuous integration. Co-authored-by: Katie Browne <kathryn.browne@nasa.gov> * separating the tests to the respective node locations (#52) * separating the tests to the respective node locations * correcting package names * Fix to Vive Correct Function (#53) * Correcting arm collision possibility (#60) * Improve documentation in Astrobee command dictionary (#54) Added thorough documentation to the command dictionary. The command notes have been updated such that a new guest scientist or FSW developer can get a clear idea of what each command is intended to be used for, and how it fits into the conops. * Reviewed flight mode parameters (#63) * Documentation improvements (#66) * Install to astrobee update (#68) * excluding ops folder from deleting; adding mlp/llp ip customization option, useful for astrobeast testing through the iss network * Cross compile with docker (#67) * Document commands (#65) Changed flight mode options. * Unit tests documentation (#69) * Corrected picoflexx unit test * Added a small description to unit tests and what they do * Changed some unit tests to actually do what they are supposed to do (success condition was a timer) * Generate diagrams automatically * Memory monitor (#61) Merged with CPU monitor. * Makefile corrections for graph generation * Changed the arm timeout from 4 to 10 seconds. (#72) The gripper calibration takes longer than 4 seconds which was causing the executive to error out on the first open gripper command. This has been fixed. Co-authored-by: Katie Browne <kathryn.browne@nasa.gov> * Renamed the cpu monitor plugins to cpu mem monitor (#73) The cpu_monitor nodes were renamed to cpu_mem_monitor. The Gazebo plugins have been renamed to reflect this change. Co-authored-by: Katie Browne <kathryn.browne@nasa.gov> * correcting docs workfow (#74) * Env overlay correction (#71) * changing order in cmake files * changing gtest to rostest for env overlay * removing repeated find rostest * Added control disabling service. (#70) * Mem mon sim description (#76) * Updated the description file for the simulation plugin. * Smarter zones check (#80) Fixed zone checker to not assume that the first point in a keepin or keepout is the min and the second is the max. * Updated adding a command documentation to reflect the Android command script work. (#83) * Updated documentation to reflect Android work. * Minor typo fix. Co-authored-by: Katie Browne <kathryn.browne@nasa.gov> * Doc improvements and minor changes to gds_simulator.py (#84) The gds_simulator was changed to accept either the number of the command to run, or the full command string * Very minor changes to gds_simulator.py (#85) * INSTALL.md: Minor spacing issue * camera_params: Minor comment * total_station.md: Minor doc improvements * scripts/calibrate/readme.md: Minor improvements * gds_simulator.py: Can pass in either the number for the command to run, or the full command string * gds_simulator: When the command is not an int, pass it as it is * gds_simulator: Fixing an odd and old typo * gds_simulator: Fixing another old typo * Added the payload config and state to the bridge. (#82) The code to translate the payload config and state messages from ros to dds have been added to the dds ros bridge. Payload config and state messages will now show up in the raw telemetry section of the ground data system (GDS). During commiting this work, the linter complained about te read params function being too long. This function and many of the other functions have been modified to shorten the read params function. Co-authored-by: Katie Browne <kathryn.browne@nasa.gov> * Perch behavior state machine review (#78) Improved perching feedback and corrected workflows. * Bugfix for gds_simulator.py (#88) * Changes to choreographer unit tests (#75) * Script to Print Versions of Software on Robot (#87) * First version with MLP and LLP. * First version with HLP. * Add a little documentation. * Minor fixes. Co-authored-by: Katie Browne <kathryn.browne@nasa.gov> * Allow image undistortion at resolution differing from native. Doc tweaks (#90) * Allow image undistortion at resolution differing from native. Doc tweaks. * Fix for compiling on Ubuntu * build_map: Fix instructions on how to test a sparse map using the localization node * Added the science camera to the bridge. (#89) Co-authored-by: Katie Browne <kathryn.browne@nasa.gov> * Export cross compiled code (#91) * correcting workfows true * adding build context checks + copy the code out of image * Sci cam compressed sim (#92) * correcting workfows true * making the topic published compressed * changing compression to jpeg + changing resolution * Removed berth number as a parameter spec. (#95) The berth number parameter spec doesn't work with the scripts that generate the astrobee api files so it as been removed and the dock and wake commands have been changed back to use longs. * Dock Position Check Timeout (#94) When undocking, the robot switches to ml, and then checks localization to make sure it matches a berth position. If the robot takes some time after the switch to reacquire position this check fails and switches to no localization. This is a fix for this situation, where instead of failing right away, it allows some time to reacquire position. * Add pictures of granite lab registration corners (#96) * Add ack sci cam cmd (#98) Added acknowledge to the sci cam command for simulation. * Added flight release documentation. (#97) * Link doc update (#99) * changing the links in the main page to reference the github docs * Updating the link for the doxygen version to sourceforge (#100) * Update camera calibration for bsharp (#101) Update a carefully calibrated and tested camera file for bsharp. This is for ISAAC use only. * Moved the data bagger to its own nodelet manager. (#103) * Cross-compile debian in docker (#106) * Release 0.13.0 (#104) * Minor change to flight release documentation. (#107) * Changed flight release documentation to instruct the tester to make two pull requests when release is ready. * Changed location debs are copied to. * Changed astrobee to start docked in berth 1 by default (#109) * Another update to bsharp2.config (#108) * Changed sci cam topic to match other cam topics. (#111) * sparse_map: Return the scale after registration (#113) * Release 0.14.0 Main features include: * Added graph_localizer package * Added supporting packages for graph localizer including imu_augmetor, imu_integation, localization_common, localization_measurements * Added tools for graph localizer including graph_bag and imu_bias_tester * Added rviz plugins for graph localizer and associated packages in localization_rviz_plugins * Added gtsam debian Please Note: Perching does not work in this release, use another version for this. * Watchdogs (#117) * added telemetry data from dock controller pulled for the I2C dock logger * Added telemetry data for WDT4 for smart_dock_service Co-authored-by: Roberto Carlino <roberto.carlino@nasa.gov> * Remove dock model plugin and update submodules (#121) * Fixing docker build script paths (#132) * Don't swich to ML if in AR loc dock behavior (#133) * skipping switch if in AR mode * uding the script that was corrected in develop * Fix link to platform. (#134) * Update astrobee_android (#136) * Add instructions to download media to docker install (#139) * Install tools in share, not bin (#138) * Localization manager work (#137) * Changed registration timeout for ml and ar. With the new localization system, the registration messages aren't published as frequently. The timeouts for ml and ar have been changed to reflect this. * Added localization manager state transitions. The localization manager was only able to execute a reset ekf command when the pipeline was localization, not when it was unstable. This has been fixed. The localization manager was also changed to allow an initialize bias command when Astrobee is not localizing. * Added better debugging output statements. * Add dynamic imu filtering, better imu configs, option for optical flow measurement spacing, and small fixes (#135) * added buffer sizes to config for graph loc and added max loc factor size * Dynamic imu filtering (#1) * added butter 20_83 notch filter * added dynamic imu filter * added more filters for dynamic filter * added flight mode switching to graph loc * moved fan speed mode to loc measurements * added identity filter * added initial fan speed mode param to localizer * added 15_83 notch filter * added fan speed mode to graph loc state * added flight mode sub to imu augmentor * added flight mode to loc offline replay * added flight mode to graph bag replay * added flight mode to merge bags script * Better feature counts (#2) * added more stats to graph loc msg * added ar feature count * moved ar and vl feature counts to before valid check * updated plt results feature counts * added error if loc state msg arrives too late to imu augmentor * added and updated merge bag scripts * reorganized imu filters, O1 * added 3rd order butter filters * added 5th order butter filter * moved 5th order butter filters to butter05 * added max num points per factor for smart factor, increased feature duration to 1 * added higher order butter filters * added imu bias tester velocities to plots * reference times in plot results to bag start time * added more spacing on ymin of feature plots * added integrated velocities to graph plots * added butter 7th order imu filter * added butter 10 filter * seperated imu configs for graph loc * Optical flow measureent spacing (#3) * added of measurement spacing * moved standstill configs to config section, lessened min num points for standstill to 4 * updated measurement spacing and durations for graph opt * increased durations to 3.5 * fixed latest bias estimation bug * Velocity rmse (#4) * added rmse integrated check * adding plotting integrated rmses * adding plotting of integrated imu aug velocities * added orientation rmse * added orientation to bag sweep results * added integrated velocity to ekf results * removed ekf y limits in plots * updated orientation rmse name * don't save vl features with < 5 landmarks, always prefer image features in ekf bag * added orientation rmse check in ekf graph * fixed checking for features in ekf bag issue * ignoring missing indices in ekf bag * added tolerance option for rmse comparisson * added imu augmented stats to csv * added imu aug to plot bag sweep results * updated parameter sweep scripts to plot imu aug results as well * updated graph bag scripts to be compatible with multiple param sweeps * added saving imu bias tester stats and plotting in plot results * added rmse plot fcn to bag sweep results * split up bag sweep results fcns * added imu bias tester plots to bag sweep plotter * added imu bias tester to param sweep results * added vector3d plotter helper * added splitting plots * added orientations to vector3d plotter * added 3 axis plotting of more in plot results * tuning results (#5) * 125hz filters (#6) * added 125hz filters * added sample rate option to imu analyzer * fixed imu analyzer top limit * Filter changes (#7) * added 5th order butter filter * added accounting for strings as variable sweeps * 125hz filters2 (#8) * added o3 125hz filters * added 125hz o5 filters * switched to 125hz for imu sampling * Release 0.14.1 (#140) * Bumping up version to 0.14.1 * Adding the tools to the bin folder as well duplicating the executables * Add calibration for haz to nav and sci cam extrinsics, and add a warning for loading very old maps (#141) * sparse_map: Return the scale after registration * Update the bumble config for sci cam and haz cam using new ISS data * Add warning on loading and saving old maps with unspecified hist equalization flag * Linter to python3 using 2to3 tool (#151) * Fix platform name + better default_robot naming (#149) * Added a non GDS way to set the recording topics. (#112) * Fix path gtsam + stop scripts if there is an error (#152) * Fix doxygen docs GitHub (#153) * Correct units in documentation for the target angular velocity and acceleration parameters. (#154) * Updated command dictionary description of holonomic mode (#161) freeFlyerPlanSchema.json: Updated the command dictionary description of holonomic mode so it describes the long-established implemented behavior instead of the original spec that was never implemented. * Extended the position and attitude tolerances (#163) * extended the tolerances for the nominal mode, bith for the granite lab and the iss worlds * increasing tolerance more in the iss to avoid errors * fixing github action docs (#164) * Minor image type fix in dds ros bridge. (#160) * Doxygen fixes (#165) * fixing github action docs * adding sparse map image path to doxygen; organizing sparse map readme files in hierarchy * Added rosout to the default bagger recording. (#167) * Updated Smart Factor Spacing and Added Separation Criteria (#166) * added buffer sizes to config for graph loc and added max loc factor size * added butter 20_83 notch filter * added dynamic imu filter * added more filters for dynamic filter * initial feature track addition * Dynamic imu filtering (#1) * added butter 20_83 notch filter * added dynamic imu filter * added more filters for dynamic filter * added flight mode switching to graph loc * moved fan speed mode to loc measurements * added identity filter * added initial fan speed mode param to localizer * added 15_83 notch filter * added fan speed mode to graph loc state * added flight mode sub to imu augmentor * added flight mode to loc offline replay * added flight mode to graph bag replay * added flight mode to merge bags script * Better feature counts (#2) * added more stats to graph loc msg * added ar feature count * moved ar and vl feature counts to before valid check * updated plt results feature counts * added error if loc state msg arrives too late to imu augmentor * added and updated merge bag scripts * reorganized imu filters, O1 * added 3rd order butter filters * added 5th order butter filter * moved 5th order butter filters to butter05 * added max num points per factor for smart factor, increased feature duration to 1 * added higher order butter filters * added imu bias tester velocities to plots * reference times in plot results to bag start time * added more spacing on ymin of feature plots * added integrated velocities to graph plots * added butter 7th order imu filter * added butter 10 filter * seperated imu configs for graph loc * Optical flow measureent spacing (#3) * added of measurement spacing * moved standstill configs to config section, lessened min num points for standstill to 4 * updated measurement spacing and durations for graph opt * increased durations to 3.5 * fixed latest bias estimation bug * Velocity rmse (#4) * added rmse integrated check * adding plotting integrated rmses * adding plotting of integrated imu aug velocities * added orientation rmse * added orientation to bag sweep results * added integrated velocity to ekf results * removed ekf y limits in plots * updated orientation rmse name * don't save vl features with < 5 landmarks, always prefer image features in ekf bag * added orientation rmse check in ekf graph * fixed checking for features in ekf bag issue * ignoring missing indices in ekf bag * added tolerance option for rmse comparisson * added imu augmented stats to csv * added imu aug to plot bag sweep results * updated parameter sweep scripts to plot imu aug results as well * updated graph bag scripts to be compatible with multiple param sweeps * added saving imu bias tester stats and plotting in plot results * added rmse plot fcn to bag sweep results * split up bag sweep results fcns * added imu bias tester plots to bag sweep plotter * added imu bias tester to param sweep results * added vector3d plotter helper * added splitting plots * added orientations to vector3d plotter * added 3 axis plotting of more in plot results * tuning results (#5) * 125hz filters (#6) * added 125hz filters * added sample rate option to imu analyzer * fixed imu analyzer top limit * Filter changes (#7) * added 5th order butter filter * added accounting for strings as variable sweeps * 125hz filters2 (#8) * added o3 125hz filters * added 125hz o5 filters * switched to 125hz for imu sampling * More eval options (#9) * added option for second bagfile for groundtruth * added groundtrtuh bag to bag and parameter sweeps * updated bag and param sweep script * Add start and end times to rmse eval (#10) * added start and end times for rmse calc to plo results and rmse utils * added start and end time to bag sweep * added start and end time for imu bias tester * added start and end time to parameter sweep * added start and end time to bag and param sweep * Add avg op and update times (#11) * added avg opt and update times script * added script to plot all results from bags * fixed bug in integrate velocities * removed unecessary if statement in optical flow callback * removed butterworht explicit filter * reverted graph loc config * updates to feature tracker * updated remove feature points in feature tracker * updated valid pointset and avg dist from mean fcn * added latest points fcn to feature track * updated add smart factor to use feature track points * moved measurement spacing to smart factor * removed measurement skipping in of fcn * removed standstill feature tracker * fixed compile errors * more compile fixes * more compile fixes * more fixes * updated rotation adder * updated projection adder * updated loc rviz display * added num tracks fcn * fixed num tracks fcn, iterate in reverse order in smart factor adder * break earlier from smart factor adding * added spacing checks to feature track * added spacing adjustment to smart factor adder * fixed bug dropping one too many imu measurements * added option for min spacing of feature tracks * added spacing option for feature track adding * fixed min sep bug * adjusted min separation, reverted save of images * added max spacing fcn * changed best spacing to clostest, using max spacing in smart factor adder * turned of scale noise with num points * added trim bag script * changed smart factor noise scale to 20 * updated separation and loc prior stddevs * increase num processes for bag and param sweep * added flight mode to merge bags script * zeroed separation param * Added beh topics to merge bags * updated noise scaling configs * increased num smart factors * Allowing to update the PMC control minimum Rate (#170) * Add imu bias config to sim (#172) * added call to init bias in sim.launch * updated groundtruth localizer to respond to service calls, fixed platform name there as well * Add C++ tool for merging bags to fix issues with rosjava (#173) * sparse_map: Return the scale after registration * Add warning on loading and saving old maps with unspecified hist equalization flag * Use a C++ merge bags tool rather than in python, as the latter cannot handle rosjava * Update bumble camera sci cam extrinsics and intrinsics * Update bumble nav to sci and haz cam extrinsics (#174) * Made small changes for the public cross compile. (#175) * Added re-plan command to the executive (#176) * Added set enable re-plan command. * Modified set enable replan descriptions. * Removed obsolete Astrobee commands. (#177) * Reverted Smart Factor Spacing to 14.1, Added relative rmse comparison and Imu bias tester adder (#171) * Minor processor fix in the astrobee launch file. (#179) * Create bionic debian repo on server. (#181) * Ubuntu 18 NASA install (#180) * cross-compiling successfully on ubuntu 18 * adding miro debian to repo to keep track of it * build soracore debian * changing xenial release to bionic * unifying the install instructions by checking ubuntu version automatically * adding changelog for debians in ubuntu 18 * updating luajit install to happen always in the same place + gitignore; updating NASA install instructions with extra step * melodic docker working * Rotation fallback fix (#183) * added first node updater * updated add priors and initial priors * added combined nav state updater params * added splitting fcns to combined nav state node updater * added latest imu integrator shared ptr to combined nav state updater * added update fcn to node updaters * added slide window fcn to combined nav state updater * fixed compile errors in combined nav state node updater * removed imu addingn and splitting fcns from graph localizer * added combind nav state node updater to graph localizer * adapted slide window in graph localizer * added node updater option to key infos * added update node fcn to graph localizer * added static call back to key info * added graph action completer * moved delete factors to utilities * added non templated base class for node updater * added vec of node updaters to graph localizer * added graph action completer type, updated smart factor adder * updated smart factor adder and loc adder with graph actions * moved graph actino to projectino factor adder * added vector of graph action completers, updated doaction call in graph localizer * fixed do action bug * added option in loc factor adder for graph completer type * removed no longer used fcns from graph localizer * added missing node updater type * added graph optimizer class * added graph optimizer params and loading * added graph stats base * updated comments for graph optimizer * updated latest imu time to use ready to add factors call instead * fixed graph optimizer build issues * added fcns to add graph action completer and timestamped node updater in graph optimzier * updated graph optimizer documentation * added graph optimizer package * updated parameter reader for graph optimizer, added graph optimizer parameter and loading to graph localizer params * updated serialization * updated graph localizer header guards in graph optimizer * changed localizer to optimizer in graph optimizer include files * changed localizer to optimizer in graph optimizer src files * moved timestamped node updater to graph optimizer * removed files from graph localizer * partial removal of fcns and updates to graph localizer for inheriting from graph optimizer * added slideotherwindows call * added dopostslideiwndow action * updated postoptimizeactions to dopostoptimizeactions in graph localizer * updated do post slide window action for graph loc * used add timestmaped node updater and graph action completer calls in graphloc constructor * added graph values accssors, updated graph values calls * changed graph_ calls to graph_factors * added marginals accessor, updated grpah localizer * updated graph localizer params * added smart projection params accessor * moved graph stats base to graph stats * made graph stats a ptr, pass it on graph optimizer construction * added add averagers calls in graph stats * formatted graph optimizer code * updated graph localizer stats * updated num factors calls in graph loc stats * moved num smart factors to utils * fixed graph optimizer compile errors * added graph localizer stats accessor * removed unused graph localizer params/fcns * fixed include file paths in graph localizer * fixed some graph localizer src paths * made bufferfactors public in graph optimizer * fixed build errors in graph localizer * fixed grap bag compile errors * fixed loc rviz plugins compile issues * fixed localizer stats calls * renamed timestamped node updater to node updater * add graph values base class * fixed param bug in graph values/graph values base * made gtsam values a shared ptr * added graph values ptr to combined nav state node updater * made some new functions for getting keys and factors in graph optimizer * updated new oldest time call * began generalization of graph values * added graph action completers for everything but projection adder * fixed some compile issues * updated feature point node updater and graph values. Added first bits of projection graph actoin completer * fixed some compile issues * moved noise params to combined nav state node updater * fixed some compile issues * added feature point node updater params * more compile fixes * changed graph values to feature point graph values in projection adder * added graph vlaues accessor in combined nav state node updater * added feature point graph values accessor * made measurements recent enough public * fixed more compile errors * reverse order of initializing factor adders and node completers in graphlocalizer * moved graph values to combined nav state graph values * moved graph values base to graph values * moved feature point graph values to graph localizer * added test config * updated fix * fixed config * fixed compile error * added missing utilities file to graph optimizer * added removed comment from robust smart factor * fixed feature point 3d header * actually fixed feature point 3d header guard issue * fixed lint issue in graph optimizer * Update platform to new version. (#184) * submodule update remote * fixing ctl unit test, reset bias now in sim.launch * Update android submodule (#185) * Added enable replan to mobility settings telemtry (#187) * Better visual (description/description/readme.md) (#188) * Release 0.14.3 (#189) * 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. Co-authored-by: Ryan Soussan <ryan.soussan@gmail.com> Co-authored-by: Katie Browne <kathryn.browne@nasa.gov> * Multi robot bridge (#190) Added astrobee to astrobee DDS bridge. Supports basic multi-robot communication including sending and receiving the ekf and guest science data messages. The bridge does not start communications on start up. This will be enabled by a astrobee command but for now, can be started by a service call. Co-authored-by: Ruben Garcia <ruben.m.garciaruiz@nasa.gov> * add astrobee-comms to gitignore and update vm instructions, virtualbox works now * Minor fixes (#196) * submodule update remote * fixing ctl unit test, reset bias now in sim.launch * add astrobee-comms to gitignore and update vm instructions, virtualbox works now * Luajit opencv debians for ubuntu 18 (#194) * cross-compiling successfully on ubuntu 18 * adding miro debian to repo to keep track of it * joining intall scripts, still testing * reverting opencv delete for native install * install dependencies if necessary * build soracore debian * changing changelog date * changing xenial release to bionic * unifying the install instructions by checking ubuntu version automatically * adding the folder command for submodule * adding changelog for debians in ubuntu 18 * updating luajit install to happen always in the same place + gitignore; updating NASA install instructions with extra step * adding luajit debian * adding opencv debian * adding ubuntu 20 patch * making it compatible with ubuntu 20 * cleanup * fixing luajit debian - tested * opencv workin, tested * adding debians to nasa install + change install instructions * no need for install opencv script anymore * fixing luajit debian names * luajit is not needed * taking luajit out of gitignore * Add null check for image data from hazcam * Add compatibility with ubuntu 20 (#198) * fixing warnings of repeated timestamp * fixing lint error * Simulation PMC Timeout Update (#204) * Updated simulation documentation (#195) * Rearranged and added to the sim documentation. * More simulation documentation clean up. Also finished simulation issues documentation. * making graph optimizer a subpage of the localization * making graph optimizer a subpage of the localization * organizing simulation tree Co-authored-by: Marina Moreira <marina.moreira@nasa.gov> * Fixed cmake warning. (#205) * Made spawn model script work with python 2 and 3. * Added the perching arm node to the list of hhardware nodes in the harware folder to the driver list (#214) * Fix tf prefix noetic (#213) * fixing noetic prefix * not adding / in case of no prefix * taking out the prefix from robots for rviz visuaization * Cargo demo fixes (#206) * Fix robot size in simulation * Improved replanning with timeout * Handrail rebase with lint and compile fixes (#217) Add localizer support for handrail measurements. Fixed state machine with regards to handrail operations. * Fixed loc rviz plugins (#219) Fixed localization rviz plugins package to work with refactored localization code. * Improved GraphLocalizer and GraphOptimizer documentation * Fixed capitalized flight modes. (#220) * Fixed heartbeat unrecognized output. (#218) * Fixed heartbeat unrecognized output. The astrobee to astrobee bridge, states, signal lights, and perch nodelets heartbeat faults were added to the fault table and the sci cam stills gazebo plugin heartbeat was suppressed. * Fixed fault table. FMECA spreadsheet didn't have the cpu monitor rename. These have been changed to cpu mem monitor. * Fixed not removing faulty factors bug (#223) * July demo cargo fixes (#225) * always deploy to 0,0 if commanded * taking out more warnings * adding comment * adding unwrapping in degrees (#224) * fixing carriage tf prefix (#228) * Add load and unload nodelet command to the executive. (#222) * Ignore astrobee astrobee bridge when dds is false (#229) Added the astrobee to astrobee bridge to the list of nodes ignored when using the sim_pub robot. This prevents an astrobee to astrobee bridge heartbeat fault when the dds flag is set to false. * Fix deprecated imp module in ubuntu 20 (#231) * Added light flow heartbeat faults. (#232) * Added light flow heartbeat fault. * Ignore light flow faults in simulation * Fixing actionlib bug in Ubuntu 20 (#230) * Fix perch namespace (#233) * fixing actionlib BUG in Ubuntu 20 * fixing lint error * adding namespace to handrail transforms * fixing bug in which if the motion failed in approach pose, then it would go to an uninitialized RECOVERY_POSE * making handrail local in case multiple robots perch in sim * fix lint error * release 0.15.0 (#235) Co-authored-by: Brian Coltin <brian.coltin@nasa.gov> Co-authored-by: kbrowne15 <katiembrowne@gmail.com> Co-authored-by: Katie Browne <kathryn.browne@nasa.gov> Co-authored-by: Kristoffer Richardsson <kristoffer@richardsson.org> Co-authored-by: Trey Smith <trey.smith@longhorizon.org> Co-authored-by: Pedro Roque <Pedro-Roque@users.noreply.github.com> Co-authored-by: Oleg Alexandrov <oleg.alexandrov@gmail.com> Co-authored-by: Roberto Carlino <roberto.carlino@nasa.gov> Co-authored-by: Ryan Soussan <ryan.soussan@gmail.com> Co-authored-by: Trey Smith <trey.smith@nasa.gov> Co-authored-by: Kristóf Kékesi <64812024+KristofKekesi@users.noreply.github.com> Co-authored-by: rgarciaruiz <84038639+rgarciaruiz@users.noreply.github.com> Co-authored-by: Ruben Garcia <ruben.m.garciaruiz@nasa.gov> Co-authored-by: Gabriel Chuang <gabriel.t.chuang@gmail.com>
Closed
luisa-mao
pushed a commit
to luisa-mao/astrobee-1
that referenced
this pull request
Jul 11, 2023
* added buffer sizes to config for graph loc and added max loc factor size * added butter 20_83 notch filter * added dynamic imu filter * added more filters for dynamic filter * initial feature track addition * Dynamic imu filtering (#1) * added butter 20_83 notch filter * added dynamic imu filter * added more filters for dynamic filter * added flight mode switching to graph loc * moved fan speed mode to loc measurements * added identity filter * added initial fan speed mode param to localizer * added 15_83 notch filter * added fan speed mode to graph loc state * added flight mode sub to imu augmentor * added flight mode to loc offline replay * added flight mode to graph bag replay * added flight mode to merge bags script * Better feature counts (nasa#2) * added more stats to graph loc msg * added ar feature count * moved ar and vl feature counts to before valid check * updated plt results feature counts * added error if loc state msg arrives too late to imu augmentor * added and updated merge bag scripts * reorganized imu filters, O1 * added 3rd order butter filters * added 5th order butter filter * moved 5th order butter filters to butter05 * added max num points per factor for smart factor, increased feature duration to 1 * added higher order butter filters * added imu bias tester velocities to plots * reference times in plot results to bag start time * added more spacing on ymin of feature plots * added integrated velocities to graph plots * added butter 7th order imu filter * added butter 10 filter * seperated imu configs for graph loc * Optical flow measureent spacing (nasa#3) * added of measurement spacing * moved standstill configs to config section, lessened min num points for standstill to 4 * updated measurement spacing and durations for graph opt * increased durations to 3.5 * fixed latest bias estimation bug * Velocity rmse (nasa#4) * added rmse integrated check * adding plotting integrated rmses * adding plotting of integrated imu aug velocities * added orientation rmse * added orientation to bag sweep results * added integrated velocity to ekf results * removed ekf y limits in plots * updated orientation rmse name * don't save vl features with < 5 landmarks, always prefer image features in ekf bag * added orientation rmse check in ekf graph * fixed checking for features in ekf bag issue * ignoring missing indices in ekf bag * added tolerance option for rmse comparisson * added imu augmented stats to csv * added imu aug to plot bag sweep results * updated parameter sweep scripts to plot imu aug results as well * updated graph bag scripts to be compatible with multiple param sweeps * added saving imu bias tester stats and plotting in plot results * added rmse plot fcn to bag sweep results * split up bag sweep results fcns * added imu bias tester plots to bag sweep plotter * added imu bias tester to param sweep results * added vector3d plotter helper * added splitting plots * added orientations to vector3d plotter * added 3 axis plotting of more in plot results * tuning results (nasa#5) * 125hz filters (nasa#6) * added 125hz filters * added sample rate option to imu analyzer * fixed imu analyzer top limit * Filter changes (nasa#7) * added 5th order butter filter * added accounting for strings as variable sweeps * 125hz filters2 (nasa#8) * added o3 125hz filters * added 125hz o5 filters * switched to 125hz for imu sampling * More eval options (nasa#9) * added option for second bagfile for groundtruth * added groundtrtuh bag to bag and parameter sweeps * updated bag and param sweep script * Add start and end times to rmse eval (nasa#10) * added start and end times for rmse calc to plo results and rmse utils * added start and end time to bag sweep * added start and end time for imu bias tester * added start and end time to parameter sweep * added start and end time to bag and param sweep * Add avg op and update times (nasa#11) * added avg opt and update times script * added script to plot all results from bags * fixed bug in integrate velocities * removed unecessary if statement in optical flow callback * removed butterworht explicit filter * reverted graph loc config * updates to feature tracker * updated remove feature points in feature tracker * updated valid pointset and avg dist from mean fcn * added latest points fcn to feature track * updated add smart factor to use feature track points * moved measurement spacing to smart factor * removed measurement skipping in of fcn * removed standstill feature tracker * fixed compile errors * more compile fixes * more compile fixes * more fixes * updated rotation adder * updated projection adder * updated loc rviz display * added num tracks fcn * fixed num tracks fcn, iterate in reverse order in smart factor adder * break earlier from smart factor adding * added spacing checks to feature track * added spacing adjustment to smart factor adder * fixed bug dropping one too many imu measurements * added option for min spacing of feature tracks * added spacing option for feature track adding * fixed min sep bug * adjusted min separation, reverted save of images * added max spacing fcn * changed best spacing to clostest, using max spacing in smart factor adder * turned of scale noise with num points * added trim bag script * changed smart factor noise scale to 20 * updated separation and loc prior stddevs * increase num processes for bag and param sweep * added flight mode to merge bags script * zeroed separation param * Added beh topics to merge bags * updated noise scaling configs * increased num smart factors
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
c.f. http://answers.ros.org/question/325039/apt-update-fails-cannot-install-pkgs-key-not-working/#js-post-body-325040