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

This library assissts in converting messages between various formats, mainly in converting geometric transforms between Eigen, ROS, C arrays, and Lua files.

The package also includes two helper nodes:

  • pose_stamped_msg_cnv: This node takes a pose ros topic and outputs a tf2 frame. It takes as input the command line arguments --input_topic, --input_frame, and --output_frame.
  • landmark_msg_cnv: This node reads VisualLandmarks messages, and outputs point clouds that can be shown in rviz. The input and output topics are specified via --input_topic and --output_topic command line arguments.