Featured ROSCon 2018 Talks

tfoote · 2019-05-07T23:09:22.819Z

As we start to get ready for ROSCon 2019 we will be featuring talks from the ROSCon 2018 archive to help inspire people to submit their own talks as well as give people a sense of what they can look forward to at ROSCon 2019!

Reminders:

The call for workshops is open
Applications for the Diversity Scholarship is open
Registration is open
Sponsorship opportunities are available

Astrobee: ROS-based Flight Software for a Free-flying Robot in Microgravity
Andrew Symington (NASA, Stinger Ghaffarian Technologies & KBRWyle) Video Slides

Astrobee is a free-flying robot designed by NASA to operate alongside astronauts inside the International Space Station, where it will carry out scientific and surveying tasks in microgravity. The robot can autonomously mate with a docking station to recharge, as well as perch to existing ISS handrails using a three degrees of freedom arm. Its open source flight software stack is built on ROS Kinetic, uses a delay-tolerant DDS bridge for space-to-ground communication, and is accompanied by a Gazebo simulator that enables researchers to develop and test behavioral algorithms. This presentation covers the the software architecture, challenges faced during the development process, facilities for testing prototype hardware, and broad lessons we have learned over the last three years.