![]() |
NASA Astrobee Robot Software
Astrobee Version:
Flight software for the Astrobee robots operating inside the International Space Station.
|
The localization node (localization_node) takes an input a sparse map built from previously acquired nav_cam images. It subscribes for incoming nav_cam images, and for each of them finds the pose of the nav_cam at the time the image was acquired based on the sparse map. It publishes this pose together with the sparse map features it used to find it on /loc/ml/features. A registration pulse is published on /loc/ml/registration.
For testing purposes, this node can be started by itself on the robot, or even on a local machine. How to do it while using a desired sparse map, is described in
localization/sparse_mapping/build_map.md
(at the bottom of the page).