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ISAAC
0.2.9
Flight software for the ISAAC project, adding functionality to the Astrobee robot, operating inside the International Space Station.
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The wifi mapper subscribes to all the wifi signal strength messages and prcesses them for 3D visualization. Customization os the produced maps is defined in isaac/config/dense_map/wifi_mapper.config
The trace map is drawn at a certain resolution, within this resolution, every signal received is averaged. The result is depicted using MarkerArray's where the cube size is the map resolution.
Parameters: plot_trace - enable or disable the trace map calculation resolution - resolution of the trace map where whithin it, the measurements will be averaged
The Wifi Mapper uses Gaussian Process Regression to mapp the ISS regarding the wifi signal strength. It makes use of the libgp library. When a new measure is obtained, the value is recorded in the GP object. When the timer responsible for calculating the wifi interpolation is enables, all the recorded data is processed.
Parameters: plot_map - enable or disable the 3D map interpolation calculation