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NASA Astrobee Robot Software
Astrobee Version:
Flight software for the Astrobee robots operating inside the International Space Station.
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This folder consists of libraries for the graph-based localizer, sparse mapping pipeline, sensor inputs for localization, and other supporting libraries.
See the following publications for more details:
If you are using the localizer or mapping pipeline in academic work, please cite the relevant publications above.
See Quickstart for a tutorial on using the AstroLoc library and an example simple localizer.
The graph_vio package performs VIO using image-based feature track measurements and estimates pose, velocity, and IMU bias values at each timestamp.
The graph_localizer package uses relative odometry measurements along with map-based localization measurements to perform localization for poses at each timestamp.
The ros_graph_localizer and ros_graph_vio packages wrap GraphVIO and GraphLocalizer objects with ROS for live or offline usage with ROS message types, and the ros_pose_extrapolator performs extrapolation of localization poses using relative odometry and interpolated IMU data.
localizationmanager
localizationnode
nodeadders
rosgraphvio
Sliding Window Graph Optimizer
vivelocalization