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NASA Astrobee Robot Software
Astrobee Version:
Flight software for the Astrobee robots operating inside the International Space Station.
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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.
Converts ROS messages to localization measurements and extrapolates localization estimates using relative odometry and interpolated IMU measurements.
Subscribes to ROS messages for online use and publishes localization messages and TFs. Contains a RosPoseExtrapolatorWrapper and passes messages to this.
/hw/imu
/graph_localizer/state
/graph_vio/state
/gnc/Ekf
(message named Ekf for historical reasons)