NASA Astrobee Robot Software  Astrobee Version:
Flight software for the Astrobee robots operating inside the International Space Station.
•All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Friends Macros Pages
Ros Graph VIO

Package Overview

Ros wrapper for the graph VIO. The graph VIO wrapper takes ros messages, convers these to localization measurements, and passes these to the GraphVIO object. The ros graph VIO nodelet handles live subscribing and publishing to ros topics.

RosGraphVIOWrapper

Contains the GraphVIO. Converts ROS messages to localization measurements and provides these to the VIO object.

ImuBiasInitializer

Assumes standstill and estimates IMU biases and stddevs from a sequence of IMU measurements.

Inputs

  • /hw/imu
  • /loc/of/features
  • /loc/depth/odom
  • /mob/flight_mode

Outputs

  • /graph_vio/state