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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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The speed camera provides a velocity estimate, along with raw measurements: optical flow, inertial, and camera images. The data is broadcast to the topics hw/speed_cam/speed
, hw/speed_cam/optical_flow
hw/speed_cam/imu
and speed_cam/camera_image
, optionally prefixed by the name space for the robot on which the driver is being run.
Although data is pushed at a constant rate on the serial bus, the driver only forwards those messages to topics with at least one subscriber.
Assuming the robot is running with name space /
, telemetry can be displayed using the following command:
rostopic echo /hw/speed_cam/optical_flow rostopic echo /hw/speed_cam/speed rostopic echo /hw/speed_cam/imu
Images can be viewed using the rqt image viewer
rqt_image_view /hw/speed_cam/camera_image
If the flight software stack is not running, the speed_cam_tool
can be used as a debugging interface to configure and query the device. To do this, first run the tool in the following way:
rosrun speed_cam speed_cam_tool
Follow the instructions to print out the data of your choice. Note that if a camera image is requested, the data will be written to a PGM file that can be opened in any modern image viewer.