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KiboRPC Game Flow

4 min read

Overview

Final round aboard the ISS

Watch Kibo Final Target Demo

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  • Starting from the dock station, move Astrobee through 4 candidate areas while capturing images of cards with AR tags.

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  • Astrobee must stay within Keep-In-Zone (KIZ)

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  • Once Astrobee reaches the astronaut and gives a report, begin locating the treasure based on their landmark locations in the images.

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  • When each treasure is found, Astrobee must take a picture of the target item and flare the signal lights.

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  • Bonus points can be earned by completing the mission faster and spending more time passing through the Oasis Zones.

Game Flow

1) Astrobee undocks

  • Astrobee undocks and moves to start point

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  • Create logs to record the status of Astrobee and help visualize program execution (like unexpected movements, robot position) 
public class YourService extends KiboRpcService {
 
    private final String TAG = this.getClass().getSimpleName();
 
    @Override
    protected void runPlan1(){
        // The mission starts- starts timer, returns Success/Failure
        api.startMission();
        Log.i(TAG, "Start mission");
...
 
private void logPose(String description) {
    Kinematics kin = api.getRobotKinematics();
    Point position = kin.getPosition();
    Quaternion orientation = kin.getOrientation();
 
    Log.i(TAG, "Pose [" + description + "]");
    Log.i(TAG, "  Position: x=" + position.getX()
            + ", y=" + position.getY()
            + ", z=" + position.getZ());
    Log.i(TAG, "  Orientation: x=" + orientation.getX()
            + ", y=" + orientation.getY()
            + ", z=" + orientation.getZ()
            + ", w=" + orientation.getW());
}
06-17 22:51:42.135 I/KiboRpcApi( 1717): Mission Start: 20250617 105142135
06-17 22:51:42.135 I/KiboRpcApi( 1717): [Finish] startMission
06-17 22:51:42.135 I/KiboRpcApi( 1717): [Start] getRobotKinematics
06-17 22:51:42.135 I/KiboRpcApi( 1717): [getRobotKinematics] Waiting for robot to acquire position.
06-17 22:51:42.135 I/KiboRpcApi( 1717): [Finish] getRobotKinematics
06-17 22:51:42.135 I/YourService( 1717): Pose [Initial pose]
06-17 22:51:42.135 I/YourService( 1717):   Position: x=10.27963567518098, y=-9.814076840187253, z=4.276688122161466
06-17 22:51:42.135 I/YourService( 1717):   Orientation: x=-0.005178778, y=-0.00419882, z=-0.001613201, w=0.99997646
06-17 22:51:42.135 I/KiboRpcApi( 1717): [Start] moveTo
06-17 22:51:42.135 I/KiboRpcApi( 1717): Parameters: goalPoint == gov.nasa.arc.astrobee.types.Point[10.9, -9.923, 5.195], orientation == Mat33f::Quaternion{ x=0; y=0; z=-0.707; w=0.707}, printRobotPosition == true

2) Move to area

  • Example, Astrobee moves to area 1 and rotates to take a picture of target item
// Move to Area 1
Point point = new Point(10.9d, -9.92284d, 5.195d);
Quaternion quaternion = new Quaternion(0f, 0f, -0.707f, 0.707f);
api.moveTo(point, quaternion, true);
logPose("After first move");

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  • Take and save a picture of the target item
// Get a camera image.
Mat image = api.getMatNavCam();
 
// Save image
Log.i(TAG, "Saving image.");
api.saveMatImage(image, "file_name.png");

3) View simulation results

  • View image files
    • Click DOWNLOAD IMAGE FILES and open app-debug.apk_results/DebugImages

picture 9

  • View log files
    • Click DOWNLOAD LOG FILES and open app-debug.apk_results/adb.log
06-17 22:51:59.157 I/KiboRpcApi( 1717): [Finish] moveTo
06-17 22:51:59.157 I/KiboRpcApi( 1717): [Start] getRobotKinematics
06-17 22:51:59.157 I/KiboRpcApi( 1717): [getRobotKinematics] Waiting for robot to acquire position.
06-17 22:51:59.157 I/KiboRpcApi( 1717): [Finish] getRobotKinematics
06-17 22:51:59.157 I/YourService( 1717): Pose [After first move]
06-17 22:51:59.157 I/YourService( 1717):   Position: x=10.894839774608288, y=-9.91495874957633, z=5.212407057308163
06-17 22:51:59.157 I/YourService( 1717):   Orientation: x=-0.009562017, y=-0.0010459396, z=-0.6966343, w=0.7173619
06-17 22:51:59.157 I/KiboRpcApi( 1717): [Start] getMatNavCam
06-17 22:51:59.158 I/KiboRpcApi( 1717): [Finish] getMatNavCam
06-17 22:51:59.158 I/YourService( 1717): Saving image.
06-17 22:51:59.158 I/KiboRpcApi( 1717): [Start] saveMatImage
06-17 22:51:59.158 I/KiboRpcApi( 1717): Parameters: image, imageName == file_name.png
06-17 22:51:59.407 I/KiboRpcApi( 1717): [Finish] saveMatImage

4) Do image processing

5) Report rounding completion

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Game API Overview

  • See Game API details in the KiboRPC Programming Manual for full API

Next: KiboRPC Image Processing

Graph View

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