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
Subsystems

Freeflyer Subsystems organization and topic name hierarchy

Definition of topic names are maintained in shared:
shared/ff_util/ff_names.h

Management

Localization

  • Localization
  • directory: localization
  • topic prefix: loc
  • Everything necessary for localization
  • include:
    • Sparse Mapping Features
    • AR Tags
    • Handrail detect
    • Optical Flow
    • Localization Manager

Mobility

  • Mobility
  • directory: mobility
  • topic prefix: mob
  • include:
    • choreographer
    • planner
      • qp
      • trapezoidal
    • sentinel
    • mapper
    • perching
    • docking

GN&C

Behaviors

Communication

  • Communications
  • directory: communications
  • topic prefix: comm
  • This is not a subsystem like the others... Does the bridge still get a prefix and publish all "FF-ROS-Commands" under it? [ted]
  • include:
    • Bridge
    • Msg / Srv / Action

Description (URDF Robot Description)

Drivers (hardware)

  • Hardware
  • directory: hardware
  • topic prefix: hw
  • include all the LLP/MLP/HLP hardware "drivers"
  • topic naming:
    • hw/camera_dock
    • hw/camera_nav
    • hw/camera_sci
    • hw/depth_perch
    • hw/depth_haz
    • hw/imu
    • hw/pmc
    • hw/laser
    • hw/light_front
    • hw/light_aft
    • hw/arm
    • hw/eps
    • hw/signals ?