NASA Astrobee Robot Software  Astrobee Version:
Flight software for the Astrobee robots operating inside the International Space Station.
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Localization Common

Package Overview

Localization common provides several objects that are quite useful for various localization functions, along with various helper functions. Many of these helper functions make converting between gtsam and ros types required for ros messages easier, along with wrapping some parameter loading functions to provide a cleaner parameter loading interface.

Important Classes

CombinedNavState

CombinedNavState extends the gtsam::NavState to include imu biases and a timestamp. This is the state that is estimated by the localizer.

Timer and Averager

The timer and averager classes provide easy ways to profile data and save statistics. Each maintains a rolling average to avoid overflow and optionally logs data to a log file.