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marinagmoreiramarinagmoreira
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Merge pull request #500 from nasa/develop
Release 0.16.5
2 parents ca97763 + 27b6315 commit f51ba23

48 files changed

Lines changed: 991 additions & 389 deletions

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‎RELEASE.md‎

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# Releases
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## Release 0.16.5
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* Fix multiple bugs
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## Release 0.16.4
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* Auto-exposure

‎astrobee.doxyfile‎

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@@ -39,7 +39,7 @@ PROJECT_NAME = "NASA Astrobee Robot Software"
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# control system is used.
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PROJECT_NUMBER = 0.16.4
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PROJECT_NUMBER = 0.16.5
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# Using the PROJECT_BRIEF tag one can provide an optional one line description
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# for a project that appears at the top of each page and should give viewer a

‎astrobee/CMakeLists.txt‎

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cmake_minimum_required(VERSION 3.0)
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project(astrobee)
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set(ASTROBEE_VERSION 0.16.4)
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set(ASTROBEE_VERSION 0.16.5)
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## Compile as C++14, supported in ROS Kinetic and newer
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add_compile_options(-std=c++14)

‎behaviors/arm/src/arm_nodelet.cc‎

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@@ -196,6 +196,11 @@ class ArmNodelet : public ff_util::FreeFlyerNodelet {
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fsm_.Add(STATE::DEPLOYING_TILTING,
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TILT_COMPLETE,
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[this](FSM::Event const& event) -> FSM::State {
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if (!calibrated_) {
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if (!CalibrateGripper())
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return Result(RESPONSE::CALIBRATE_FAILED);
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return STATE::CALIBRATING;
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}
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return Result(RESPONSE::SUCCESS);
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});
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@@ -252,8 +257,8 @@ class ArmNodelet : public ff_util::FreeFlyerNodelet {
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return STATE::STOWING_SETTING;
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else if (goal_set_)
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return STATE::SETTING;
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else // We don't know where we were, return error
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return Result(RESPONSE::NO_GOAL);
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else // Finished
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return Result(RESPONSE::SUCCESS);
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}
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if (!Arm(PAN))
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return Result(RESPONSE::PAN_FAILED);

‎debian/changelog‎

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astrobee (0.16.5) testing; urgency=medium
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* Fix multiple bugs
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-- Astrobee Flight Software <astrobee-fsw@nx.arc.nasa.gov> Mon, 23 May 2022 14:15:36 -0700
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astrobee (0.16.4) testing; urgency=medium
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* Auto-exposure

‎hardware/is_camera/src/camera.cc‎

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@@ -356,7 +356,7 @@ namespace is_camera {
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} else {
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return;
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}
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enable = bayer_enable_;
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bayer_enable_ = enable;
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}
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// Timer that periodically changes camera exposure based on the captured image's histogram

‎localization/camera/CMakeLists.txt‎

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@@ -23,15 +23,7 @@ add_compile_options(-std=c++14)
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## Find catkin macros and libraries
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find_package(catkin2 REQUIRED COMPONENTS
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roscpp
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std_msgs
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sensor_msgs
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cv_bridge
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image_transport
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rosbag
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ff_common
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ff_msgs
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nodelet
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config_reader
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)
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@@ -40,19 +32,17 @@ find_package(cmake_modules REQUIRED)
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find_package(Boost REQUIRED COMPONENTS system)
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find_package(Eigen3 REQUIRED)
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# Find OpenCV
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SET(CMAKE_MODULE_PATH "${CMAKE_SOURCE_DIR}/../../cmake")
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find_package(OpenCV331 REQUIRED)
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catkin_package(
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INCLUDE_DIRS include
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LIBRARIES camera
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CATKIN_DEPENDS
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roscpp
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std_msgs
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sensor_msgs
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cv_bridge
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image_transport
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rosbag
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ff_common
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ff_msgs
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nodelet
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config_reader
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)
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@@ -65,6 +55,7 @@ include_directories(
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include
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${catkin_INCLUDE_DIRS}
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${EIGEN3_INCLUDE_DIR}
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${OpenCV_INCLUDE_DIRS}
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)
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# Declare C++ libraries
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src/camera_params.cc
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)
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add_dependencies(camera ${catkin_EXPORTED_TARGETS})
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target_link_libraries(camera ${catkin_LIBRARIES} ${EIGEN_LIBRARIES})
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target_link_libraries(camera ${catkin_LIBRARIES} ${EIGEN_LIBRARIES} ${OpenCV_LIBRARIES})
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## Declare a C++ executable: undistort_image
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add_executable(undistort_image tools/undistort_image.cc)
@@ -127,4 +118,4 @@ install(DIRECTORY include/${PROJECT_NAME}/
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DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
128119
FILES_MATCHING PATTERN "*.h"
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PATTERN ".svn" EXCLUDE
130-
)
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)

‎localization/camera/package.xml‎

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<name>camera</name>
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<version>1.0.0</version>
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<description>
5-
This package localizes the Astrobee on a map.
5+
This package provides camera utilities.
66
</description>
77
<license>
88
Apache License, Version 2.0
@@ -14,28 +14,8 @@
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Astrobee Flight Software
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</maintainer>
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<buildtool_depend>catkin</buildtool_depend>
17-
<build_depend>roscpp</build_depend>
18-
<build_depend>message_generation</build_depend>
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<build_depend>std_msgs</build_depend>
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<build_depend>sensor_msgs</build_depend>
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<build_depend>cv_bridge</build_depend>
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<build_depend>image_transport</build_depend>
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<build_depend>rosbag</build_depend>
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<build_depend>ff_common</build_depend>
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<build_depend>ff_msgs</build_depend>
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<build_depend>nodelet</build_depend>
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<build_depend>tf2</build_depend>
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<build_depend>config_reader</build_depend>
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<run_depend>roscpp</run_depend>
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<run_depend>message_runtime</run_depend>
31-
<run_depend>std_msgs</run_depend>
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<run_depend>sensor_msgs</run_depend>
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<run_depend>cv_bridge</run_depend>
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<run_depend>image_transport</run_depend>
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<run_depend>rosbag</run_depend>
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<run_depend>ff_common</run_depend>
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<run_depend>ff_msgs</run_depend>
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<run_depend>nodelet</run_depend>
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<run_depend>tf2</run_depend>
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<run_depend>config_reader</run_depend>
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</package>

‎localization/depth_odometry/CMakeLists.txt‎

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@@ -23,11 +23,13 @@ add_compile_options(-std=c++14)
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2424
## Find catkin macros and libraries
2525
find_package(catkin2 REQUIRED COMPONENTS
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camera
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cv_bridge
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ff_util
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image_transport
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localization_common
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localization_measurements
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msg_conversions
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nodelet
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optimization_common
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point_cloud_common
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vision_common
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4850
catkin_package(
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INCLUDE_DIRS include ${CERES_INCLUDE_DIRS} ${GTSAM_INCLUDE_DIR} ${PCL_INCLUDE_DIRS} ${pcl_conversions_INCLUDE_DIRS}
5052
LIBRARIES ${PROJECT_NAME} ${CERES_LIBRARIES} ${PCL_LIBRARIES} ${GTSAM_LIBRARIES}
51-
CATKIN_DEPENDS roscpp ff_msgs ff_util localization_common localization_measurements msg_conversions optimization_common point_cloud_common vision_common
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CATKIN_DEPENDS roscpp cv_bridge ff_msgs ff_util image_transport localization_common localization_measurements msg_conversions nodelet optimization_common point_cloud_common vision_common
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DEPENDS gtsam pcl
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)
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target_link_libraries(test_point_to_plane_icp_depth_odometry
8991
${PROJECT_NAME} ${catkin_LIBRARIES}
9092
)
91-
add_rostest_gtest(test_image_features_with_known_correspondences_aligner_depth_odometry
92-
test/test_image_features_with_known_correspondences_aligner_depth_odometry.test
93-
test/test_image_features_with_known_correspondences_aligner_depth_odometry.cc
94-
test/test_utilities.cc
95-
)
96-
target_link_libraries(test_image_features_with_known_correspondences_aligner_depth_odometry
97-
${PROJECT_NAME} ${catkin_LIBRARIES}
98-
)
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100-
find_package(rostest REQUIRED)
101-
add_rostest_gtest(test_depth_odometry_wrapper
102-
test/test_depth_odometry_wrapper.test
103-
test/test_depth_odometry_wrapper.cc
104-
test/test_utilities.cc
105-
)
106-
target_link_libraries(test_depth_odometry_wrapper
107-
${PROJECT_NAME} ${catkin_LIBRARIES}
108-
)
94+
# Ignore these tests if OpenCV 4 installed as cv_bridge will cause a runtime segfault
95+
# since it uses opencv4 on newer ros versions and the rest of the code uses opencv3
96+
find_package(OpenCV 4 QUIET)
97+
if(NOT OpenCV_FOUND)
98+
add_rostest_gtest(test_image_features_with_known_correspondences_aligner_depth_odometry
99+
test/test_image_features_with_known_correspondences_aligner_depth_odometry.test
100+
test/test_image_features_with_known_correspondences_aligner_depth_odometry.cc
101+
test/test_utilities.cc
102+
)
103+
target_link_libraries(test_image_features_with_known_correspondences_aligner_depth_odometry
104+
${PROJECT_NAME} ${catkin_LIBRARIES}
105+
)
106+
107+
add_rostest_gtest(test_depth_odometry_wrapper
108+
test/test_depth_odometry_wrapper.test
109+
test/test_depth_odometry_wrapper.cc
110+
test/test_utilities.cc
111+
)
112+
target_link_libraries(test_depth_odometry_wrapper
113+
${PROJECT_NAME} ${catkin_LIBRARIES}
114+
)
115+
endif()
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110117
endif()
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‎localization/depth_odometry/package.xml‎

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Astrobee Flight Software
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</maintainer>
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<buildtool_depend>catkin</buildtool_depend>
17-
<build_depend>camera</build_depend>
17+
<build_depend>cv_bridge</build_depend>
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<build_depend>ff_msgs</build_depend>
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<build_depend>ff_util</build_depend>
20+
<build_depend>image_transport</build_depend>
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<build_depend>localization_common</build_depend>
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<build_depend>localization_measurements</build_depend>
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<build_depend>msg_conversions</build_depend>
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<build_depend>point_cloud_common</build_depend>
2829
<build_depend>vision_common</build_depend>
2930
<build_depend>roscpp</build_depend>
30-
<run_depend>camera</run_depend>
31+
<run_depend>cv_bridge</run_depend>
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<run_depend>ff_msgs</run_depend>
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<run_depend>ff_util</run_depend>
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<run_depend>image_transport</run_depend>
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<run_depend>localization_common</run_depend>
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<run_depend>localization_measurements</run_depend>
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<run_depend>msg_conversions</run_depend>

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