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nasa / astrobee

NASA Astrobee Robot Software
https://www.nasa.gov/astrobee
Apache License 2.0
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On dealing with multiple robotic platforms #741

Closed Pedro-Roque closed 2 months ago

Pedro-Roque commented 1 year ago

This is more of a design kind of issue than an actual issue, but I thought this was the more appropriate way to raise it.

When supporting multiple hardware platforms using the Astrobee software stack, a few changes in the software structure need to be taken care of:

  1. Most hardware-related interfaces should be moved to the hardware folder. For now, these seem to be mostly drivers, but nodes such as the light_flow which are Astrobee-hardware specific maybe could be moved as well
  2. How to deal with different LLP and MLP interfaces? Have a separate robot folder for each, or have them on submodules?
  3. Descriptions and media: we created different submodules/have our own astrobee_media . What could be the best way to standardize this? Are there ideas already or should we come up with a good way to methodically do it?

Most of these problems are being addressed in https://github.com/DISCOWER/astrobee main branch - which for us is a ros2 setup. Support for Ubuntu 22.04 has also been added with support for OpenCV4 (thanks @ana-GT @joris997!) and dependencies source installed into ~/.local (as opposite to have debians installed system wide, which collided with previous system dependencies).

Maybe some time next we could have a quick call just to share some progress and updates/hurdles on this? Tagging @trey0 @marinagmoreira

Cheers! Pedro,

marinagmoreira commented 1 year ago

Hi @Pedro-Roque fill in your availability :) https://doodle.com/meeting/participate/id/eZ0Gvl6b

bcoltin commented 2 months ago

We talked about this and I believe we have figured it out!