NASA Astrobee Robot Software  Astrobee Version:
Flight software for the Astrobee robots operating inside the International Space Station.
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Ros Pose Extrapolator

Package Overview

Extrapolates localization estimates using relative odometry and IMU measurements. The ros pose extrapolator wrapper takes ros messages, converts these to localization measurements, and performs the required extrapolation. The ros pose extrapolator nodelet handles live subscribing and publishing to ros topics.

RosPoseExtrapolatorWrapper

Converts ROS messages to localization measurements and extrapolates localization estimates using relative odometry and interpolated IMU measurements.

RosPoseExtrapolatorNodelet

Subscribes to ROS messages for online use and publishes localization messages and TFs. Contains a RosPoseExtrapolatorWrapper and passes messages to this.

Inputs

  • /hw/imu
  • /graph_localizer/state
  • /graph_vio/state

Outputs

  • /gnc/Ekf (message named Ekf for historical reasons)