ISAAC
0.2.11
Flight software for the ISAAC project, adding functionality to the Astrobee robot, operating inside the International Space Station.
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The ISAAC project has three main technical thrusts:
This isaac
repo serves as a master for integrating an end-to-end demo that draws on code from the other repos as well as directly including a significant amount of the ISAAC code, mostly relating to the Astrobee robot. This repository includes:
You may also be interested in the separate repository for the ISAAC User Interface, which enables monitoring of multiple robots through a web browser.
The isaac
repo depends on the astrobee
repo, therefore it inherits the same system requirements. You must use Ubuntu 16.04 to 20.04 64-bit. When running in simulation, certain Gazebo plugins require appropriate graphics drivers. See INSTALL.md in that repository for more information.
There are two main ways to install and run isaac
:
isaac
code on your native Ubuntu OS (or inside a normal virtual machine) in a way that makes it convenient for you to edit and incrementally recompile.isaac
code itself is built and run inside one of these containers. Note that the in-docker build is managed by the Dockerfile and completely separate from any build in your native OS, and you don't need to install for development prior to installing for demo.Instructions on installing and using the ISAAC Software. For running the docker demos
The documentation is auto-generated from the contents of this repository.
To compile the documentation locally (make sure you have the latest doxygen installed):
doxygen isaac.doxyfile
The ISAAC Software is open source, and we welcome contributions from the public. Please submit pull requests to the develop
branch. For us to merge any pull requests, we must request that contributors sign and submit either an Individual Contributor License Agreement or a Corporate Contributor License Agreement due to NASA legal requirements. Thank you for your understanding.
Copyright (c) 2021, United States Government, as represented by the Administrator of the National Aeronautics and Space Administration. All rights reserved.
The "ISAAC - Integrated System for Autonomous and Adaptive Caretaking platform" software is licensed under the Apache License, Version 2.0 "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0.
Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.