Astrobee Movement and Rotation

Intro

6th Kibo-RPC Tutorial Video: 04 Exploration of Sample APK

Explanation of Classes and Functions used in the sample APK, Coordinates, Movement and rotation

Sample APK

YourService.java

package jp.jaxa.iss.kibo.rpc.sampleapk;
 
import jp.jaxa.iss.kibo.rpc.api.KiboRpcService;
 
import gov.nasa.arc.astrobee.types.Point;
import gov.nasa.arc.astrobee.types.Quaternion;
 
import org.opencv.core.Mat;
 
/**
 * Class meant to handle commands from the Ground Data System and execute them in Astrobee.
 */
 
public class YourService extends KiboRpcService {
    @Override
    protected void runPlan1(){
        // The mission starts.
        api.startMission();
 
        // Move to a point.
        Point point = new Point(10.9d, -9.92284d, 5.195d);
        Quaternion quaternion = new Quaternion(0f, 0f, -0.707f, 0.707f);
        api.moveTo(point, quaternion, false);
 
        // Get a camera image.
        Mat image = api.getMatNavCam();
 
        /* ******************************************************************************** */
        /* Write your code to recognize the type and number of landmark items in each area! */
        /* If there is a treasure item, remember it.                                        */
        /* ******************************************************************************** */
 
        // When you recognize landmark items, let’s set the type and number.
        api.setAreaInfo(1, "item_name", 1);
 
        /* **************************************************** */
        /* Let's move to each area and recognize the items. */
        /* **************************************************** */
 
        // When you move to the front of the astronaut, report the rounding completion.
        point = new Point(11.143d, -6.7607d, 4.9654d);
        quaternion = new Quaternion(0f, 0f, 0.707f, 0.707f);
        api.moveTo(point, quaternion, false);
        api.reportRoundingCompletion();
 
        /* ********************************************************** */
        /* Write your code to recognize which target item the astronaut has. */
        /* ********************************************************** */
 
        // Let's notify the astronaut when you recognize it.
        api.notifyRecognitionItem();
 
        /* ******************************************************************************************************* */
        /* Write your code to move Astrobee to the location of the target item (what the astronaut is looking for) */
        /* ******************************************************************************************************* */
 
        // Take a snapshot of the target item.
        api.takeTargetItemSnapshot();
    }
 
    @Override
    protected void runPlan2(){
       // write your plan 2 here.
    }
 
    @Override
    protected void runPlan3(){
        // write your plan 3 here.
    }
 
    // You can add your method.
    private String yourMethod(){
        return "your method";
    }
}

Movement

• Astrobee’s pose is typically given relative to the ISS LVLH frame.
  • +X: Forward, toward the front of the Kibo module.
  • +Y: Port side (to the left if facing forward).
  • +Z: Downward, toward Earth (nadir).

• Example, to move Astrobee, you can tell it to go to coordinate (10,-7,5)

Rotation

• Quaternions will be used to define rotations.

• If Astrobee is perfectly aligned with the ISS reference frame (no rotation AKA θ = 0), then the quaternion is q = (0,0,0,1)

Next: KiboRPC Game Flow