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13 |
14 |
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/orbit_publisher_pkg/launch/basic_fix.launch:
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1 |
2 |
3 |
4 |
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6 |
7 |
8 |
9 |
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/orbit_publisher_pkg/config/dynamic_orbit.yaml:
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1 | # rosparam load orbit_parameters.yaml [namespace] if don't use namespace /param_name
2 | # Oribit parameters
3 | publish_rate: 10
4 | eccentricity: 0.00001
5 | semi_major_axix: 12000
6 | inclination: (60.0*pi)/180.0
7 | rate_of_right_ascension: 0.0
8 | right_ascension_ini: 0.0
9 | argument_of_perigee_ini: 0.0
10 | rate_argument_Of_perigee: 0.0
11 | mean_anomaly_ini: (60.0*pi)/180.0
12 | time_pass_perigee:
13 | sec : 0
14 | min: 0
15 | hour: 0
16 | mday: 0
17 | mon: 0
18 | year: 2000
19 |
20 | time_start:
21 | sec : 0
22 | min: 0
23 | hour: 0
24 | mday: 0
25 | mon: 0
26 | year: 2000
27 |
28 | angular_velocity: 0.0010948236924738 # sqrt( MUe / pow( SemiMajorAxix , 3));
29 | #period:
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/site/assets/javascripts/lunr/min/lunr.vi.min.js:
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1 | !function(e,r){"function"==typeof define&&define.amd?define(r):"object"==typeof exports?module.exports=r():r()(e.lunr)}(this,function(){return function(e){if(void 0===e)throw new Error("Lunr is not present. Please include / require Lunr before this script.");if(void 0===e.stemmerSupport)throw new Error("Lunr stemmer support is not present. Please include / require Lunr stemmer support before this script.");e.vi=function(){this.pipeline.reset(),this.pipeline.add(e.vi.stopWordFilter,e.vi.trimmer)},e.vi.wordCharacters="[A-Za-ẓ̀͐́͑̉̃̓ÂâÊêÔôĂ-ăĐ-đƠ-ơƯ-ư]",e.vi.trimmer=e.trimmerSupport.generateTrimmer(e.vi.wordCharacters),e.Pipeline.registerFunction(e.vi.trimmer,"trimmer-vi"),e.vi.stopWordFilter=e.generateStopWordFilter("là cái nhưng mà".split(" "))}});
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/orbit_robot_pkg/CMakeLists.txt:
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1 | cmake_minimum_required(VERSION 3.0.2)
2 | project(orbit_robot_pkg)
3 |
4 | add_compile_options(-std=c++11)
5 |
6 | find_package(catkin REQUIRED COMPONENTS
7 | gazebo_ros
8 | roscpp
9 | rospy
10 | std_msgs
11 | geometry_msgs
12 | )
13 |
14 | find_package (Eigen3 3.3 REQUIRED)
15 | find_package(gazebo REQUIRED)
16 |
17 |
18 | link_directories(${GAZEBO_LIBRARY_DIRS})
19 | include_directories(${PROJECT_SOURCE_DIR}/include ${Boost_INCLUDE_DIR} ${catkin_INCLUDE_DIRS} ${GAZEBO_INCLUDE_DIRS})
20 |
21 |
22 | catkin_package(
23 | DEPENDS
24 | roscpp
25 | gazebo_ros
26 | )
27 |
28 | add_library(Orbit_robot_pkg_plugin src/Orbit_robot_pkg_plugin.cpp src/OrbitLink.cpp )
29 | target_link_libraries(Orbit_robot_pkg_plugin ${catkin_LIBRARIES} ${GAZEBO_LIBRARIES})
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/orbit_publisher_pkg/launch/basic.launch:
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2 |
3 |
4 |
5 |
6 |
7 |
8 |
9 |
10 |
11 |
12 |
13 |
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/site/assets/javascripts/lunr/min/lunr.multi.min.js:
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1 | !function(e,t){"function"==typeof define&&define.amd?define(t):"object"==typeof exports?module.exports=t():t()(e.lunr)}(this,function(){return function(e){e.multiLanguage=function(){for(var t=Array.prototype.slice.call(arguments),i=t.join("-"),r="",n=[],s=[],p=0;p
6 |
7 |
8 | As presented in other sections, from this file the following functionalities are loaded:
9 |
10 | - Gazebo simulation parameters.
11 | - Launch of the orbit and orbit publisher package.
12 | - The world file (converting the .xacro to .world) and then loading with then the gazebo_ros launcher.
13 | - Spacecraft / robot URDF loaded to the param server.
14 | - World position of the spacecraft / robot model in the world.
15 | - Loads of the ROS controllers.
16 |
17 | When creating a new application, it is recommended to follow the same structure as the presented in the previously made applications to ensure all the functionalities are launched simply from one file.
18 |
19 | Under [Examples of Applications](examples.md) you will find the specific command used to launch each of the applications included.
20 |
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/site/assets/javascripts/lunr/min/lunr.th.min.js:
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1 | !function(e,r){"function"==typeof define&&define.amd?define(r):"object"==typeof exports?module.exports=r():r()(e.lunr)}(this,function(){return function(e){if(void 0===e)throw new Error("Lunr is not present. Please include / require Lunr before this script.");if(void 0===e.stemmerSupport)throw new Error("Lunr stemmer support is not present. Please include / require Lunr stemmer support before this script.");var r="2"==e.version[0];e.th=function(){this.pipeline.reset(),this.pipeline.add(e.th.trimmer),r?this.tokenizer=e.th.tokenizer:(e.tokenizer&&(e.tokenizer=e.th.tokenizer),this.tokenizerFn&&(this.tokenizerFn=e.th.tokenizer))},e.th.wordCharacters="[-]",e.th.trimmer=e.trimmerSupport.generateTrimmer(e.th.wordCharacters),e.Pipeline.registerFunction(e.th.trimmer,"trimmer-th");var t=e.wordcut;t.init(),e.th.tokenizer=function(i){if(!arguments.length||null==i||void 0==i)return[];if(Array.isArray(i))return i.map(function(t){return r?new e.Token(t):t});var n=i.toString().replace(/^\s+/,"");return t.cut(n).split("|")}}});
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/orbit_publisher_pkg/CMakeLists.txt:
--------------------------------------------------------------------------------
1 | cmake_minimum_required(VERSION 3.0.2)
2 | project(orbit_publisher_pkg)
3 |
4 |
5 | add_compile_options(-std=c++11)
6 | # set(CMAKE_BUILD_TYPE Debug)
7 | set(CMAKE_BUILD_TYPE Release)
8 |
9 | find_package(catkin REQUIRED COMPONENTS
10 | roscpp
11 | std_msgs
12 | geometry_msgs
13 | )
14 |
15 | find_package (Eigen3 3.3 REQUIRED)
16 |
17 | catkin_package(
18 | INCLUDE_DIRS include
19 | LIBRARIES orbit_publisher_pkg
20 | CATKIN_DEPENDS roscpp std_msgs geometry_msgs orbit_msgs
21 | DEPENDS system_lib
22 | )
23 |
24 | include_directories(
25 | ${PROJECT_SOURCE_DIR}/include
26 | ${catkin_INCLUDE_DIRS}
27 | )
28 |
29 | add_executable(${PROJECT_NAME}_node src/orbit_publisher_pkg_node.cpp src/Orbit.cpp)
30 | target_link_libraries(${PROJECT_NAME}_node
31 | ${catkin_LIBRARIES}
32 | Eigen3::Eigen
33 | )
34 |
35 | add_executable(fix_${PROJECT_NAME}_node src/fix_orbit_publisher_pkg_node.cpp src/Orbit.cpp)
36 | target_link_libraries(fix_${PROJECT_NAME}_node
37 | ${catkin_LIBRARIES}
38 | Eigen3::Eigen
39 | )
40 |
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/ets_vii/worlds/no_gravity_dart.world:
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1 |
2 |
3 |
4 |
5 |
6 |
7 |
8 | 0.000000000000000000 0.00000000000000000 0.000000000000000
9 | 0.00000000000 0.00000000000 0.000000000000
10 |
11 |
12 | model://sun
13 |
14 |
15 |
16 |
17 | 0 0 0 0 0 0
18 | false
19 |
20 |
21 |
22 | 0.001 0.001 0.001
23 |
24 |
25 |
26 |
27 |
28 |
29 | 0.1 0.1 0.1
30 |
31 |
32 |
33 |
34 |
35 |
36 |
37 |
38 |
39 |
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/orbit_publisher_pkg/package.xml:
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1 |
2 |
3 | orbit_publisher_pkg
4 | 0.0.1
5 | The orbit_publisher_pkg package
6 |
7 | Jose Luis Ramon
8 |
9 | TODO pendiente de definir
10 |
11 | catkin
12 |
13 | roscpp
14 | std_msgs
15 | geometry_msgs
16 | orbit_msgs
17 |
18 | roscpp
19 | std_msgs
20 | geometry_msgs
21 | orbit_msgs
22 |
23 | roscpp
24 | std_msgs
25 | geometry_msgs
26 | std_msgs
27 |
28 |
29 |
30 |
31 |
32 |
33 |
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/orbit_robot_pkg/package.xml:
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1 |
2 |
3 | orbit_robot_pkg
4 | 0.0.1
5 | The orbit_robot_pkg package
6 |
7 | Jose Luis Ramon
8 |
9 | MIT
10 |
11 | catkin
12 | gazebo_ros
13 | roscpp
14 | std_msgs
15 | geometry_msgs
16 | gazebo_ros
17 | roscpp
18 | std_msgs
19 | geometry_msgs
20 | gazebo_ros
21 | roscpp
22 | std_msgs
23 | geometry_msgs
24 |
25 |
26 |
27 |
28 |
29 |
30 |
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/site/assets/javascripts/lunr/min/lunr.hy.min.js:
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1 | !function(e,r){"function"==typeof define&&define.amd?define(r):"object"==typeof exports?module.exports=r():r()(e.lunr)}(this,function(){return function(e){if(void 0===e)throw new Error("Lunr is not present. Please include / require Lunr before this script.");if(void 0===e.stemmerSupport)throw new Error("Lunr stemmer support is not present. Please include / require Lunr stemmer support before this script.");e.hy=function(){this.pipeline.reset(),this.pipeline.add(e.hy.trimmer,e.hy.stopWordFilter)},e.hy.wordCharacters="[A-Za-z-֏ff-ﭏ]",e.hy.trimmer=e.trimmerSupport.generateTrimmer(e.hy.wordCharacters),e.Pipeline.registerFunction(e.hy.trimmer,"trimmer-hy"),e.hy.stopWordFilter=e.generateStopWordFilter("դու և եք էիր էիք հետո նաև նրանք որը վրա է որ պիտի են այս մեջ ն իր ու ի այդ որոնք այն կամ էր մի ես համար այլ իսկ էին ենք հետ ին թ էինք մենք նրա նա դուք եմ էի ըստ որպես ում".split(" ")),e.Pipeline.registerFunction(e.hy.stopWordFilter,"stopWordFilter-hy"),e.hy.stemmer=function(){return function(e){return"function"==typeof e.update?e.update(function(e){return e}):e}}(),e.Pipeline.registerFunction(e.hy.stemmer,"stemmer-hy")}});
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/LICENSE:
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1 | MIT License
2 |
3 | Copyright (c) 2022 OnOrbitROS Jose Luis Ramon Carretero
4 |
5 | Permission is hereby granted, free of charge, to any person obtaining a copy
6 | of this software and associated documentation files (the "Software"), to deal
7 | in the Software without restriction, including without limitation the rights
8 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
9 | copies of the Software, and to permit persons to whom the Software is
10 | furnished to do so, subject to the following conditions:
11 |
12 | The above copyright notice and this permission notice shall be included in all
13 | copies or substantial portions of the Software.
14 |
15 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
16 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
17 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
18 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
19 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
20 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
21 | SOFTWARE.
22 |
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/.readthedocs.yaml:
--------------------------------------------------------------------------------
1 | # .readthedocs.yaml
2 | # Read the Docs configuration file
3 | # See https://docs.readthedocs.io/en/stable/config-file/v2.html for details
4 |
5 | # Required
6 | version: 2
7 |
8 | # Set the OS, Python version and other tools you might need
9 | build:
10 | os: ubuntu-22.04
11 | tools:
12 | python: "3.12"
13 | # You can also specify other tool versions:
14 | # nodejs: "19"
15 | # rust: "1.64"
16 | # golang: "1.19"
17 |
18 | # Build documentation in the "docs/" directory with Sphinx
19 | # sphinx:
20 | # configuration: docs/conf.py
21 |
22 | # Build documentation with Mkdocs
23 | mkdocs:
24 | configuration: mkdocs.yml
25 |
26 | # Dependencies required to build your docs
27 | python:
28 | install:
29 | - requirements: requirements.txt
30 |
31 | # Optionally build your docs in additional formats such as PDF and ePub
32 | # formats:
33 | # - pdf
34 | # - epub
35 |
36 | # Optional but recommended, declare the Python requirements required
37 | # to build your documentation
38 | # See https://docs.readthedocs.io/en/stable/guides/reproducible-builds.html
39 | # python:
40 | # install:
41 | # - requirements: docs/requirements.txt
42 |
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/ets_vii/worlds/no_gravity.world:
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1 |
2 |
3 |
4 |
5 | 0.01
6 | 1
7 | 100
8 |
9 |
10 | world
11 |
12 |
13 |
14 |
15 | 0.0 0.0 0.0
16 | 0.0 0.0 0.0
17 |
18 |
19 | model://sun
20 |
21 |
22 |
23 |
24 | 0 0 0 0 0 0
25 | false
26 |
27 |
28 |
29 | 0.001 0.001 0.001
30 |
31 |
32 |
33 |
34 |
35 |
36 | 0.1 0.1 0.1
37 |
38 |
39 |
40 |
41 |
42 |
43 |
44 |
45 |
46 |
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/mkdocs.yml:
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1 | site_name: OnOrbitROS Documentation
2 |
3 | theme:
4 | name: readthedocs
5 | highlightjs: true
6 | hljs_languages:
7 | - yaml
8 | - rust
9 | # features:
10 | # - content.code.copy
11 |
12 | repo_url: https://github.com/OnOrbitROS
13 |
14 | markdown_extensions:
15 | - admonition
16 | #- mdx_math
17 | # - markdown_include.include:
18 | # base_path: docs
19 | # - pymdownx.highlight:
20 | # anchor_linenums: true
21 | # line_spans: __span
22 | # pygments_lang_class: true
23 | # - pymdownx.inlinehilite
24 | # - pymdownx.snippets
25 | # - pymdownx.superfences
26 |
27 |
28 | extra_css: [extra.css]
29 | extra_javascript: [extra.js]
30 | extra_javascript:
31 | - https://cdnjs.cloudflare.com/ajax/libs/mathjax/2.7.4/MathJax.js?config=TeX-AMS-MML_HTMLorMML
32 |
33 | nav:
34 | - Home:
35 | - Welcome to OnOrbitROS: index.md
36 | - HURO Space Robotics: huro.html
37 | - User Guide:
38 | - Installation Guide: Install.md
39 | - Launch Application: launch.md
40 | - Examples of Aplications: examples.md
41 | - Developer Guide:
42 | - Architechture: architechture.md
43 | - Create a new Application: application.md
44 | - Troubleshooting: troubleshooting.md
45 | - Experiments: experiments.md
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/package_template/urdf/cubesat_template.xacro:
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1 |
2 |
3 |
4 |
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6 |
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9 |
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24 |
25 |
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28 |
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30 |
31 |
32 |
33 |
34 |
35 | /
36 |
37 |
38 |
39 |
40 |
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/docs/extra.js:
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1 |
2 | document.addEventListener('DOMContentLoaded', function() {
3 | var codeBlocks = document.querySelectorAll('pre');
4 | codeBlocks.forEach(function(codeBlock) {
5 | var copyButton = document.createElement('button');
6 | copyButton.className = 'copy-button';
7 | copyButton.innerHTML = '';
8 | copyButton.addEventListener('click', function() {
9 | var codeText = codeBlock.querySelector('code').innerText;
10 | navigator.clipboard.writeText(codeText).then(function() {
11 | console.log('Code copied to clipboard');
12 | }, function(err) {
13 | console.error('Failed to copy code: ', err);
14 | });
15 | });
16 | codeBlock.parentNode.insertBefore(copyButton, codeBlock);
17 | positionCopyButton(copyButton, codeBlock); // Call the function to position the copy button
18 | });
19 | });
20 |
21 | // Function to position the copy button
22 | function positionCopyButton(copyButton, codeBlock) {
23 | // Set the copy button's position to the top right corner of the code block
24 | var codeBlockRect = codeBlock.getBoundingClientRect();
25 | copyButton.style.position = 'absolute';
26 | copyButton.style.top = (codeBlockRect.top-30) + 'px';
27 | copyButton.style.right = (codeBlockRect.left+105) + 'px';
28 | }
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/ets_vii/config/ros_controllers.yaml:
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1 | satt_arm_controller:
2 | type: effort_controllers/JointTrajectoryController
3 | joints:
4 | - joint1
5 | - joint2
6 | - joint3
7 | - joint4
8 | - joint5
9 | - joint6
10 |
11 | constraints:
12 | # Esta tolerancia se suma al tiempo establecido para realizar la trayectoria
13 | goal_time: 0.5
14 | # Esta es el valor de velocidad que es considerada 0.
15 | stopped_velocity_tolerance: 0.02 # Override default
16 | joint1:
17 | trajectory: 0.005 # Not enforced if unspecified
18 | goal: 0.002
19 | joint2:
20 | trajectory: 0.05 # Not enforced if unspecified
21 | goal: 0.02
22 | joint3:
23 | trajectory: 0.05 # Not enforced if unspecified
24 | goal: 0.02
25 | joint4:
26 | trajectory: 0.05 # Not enforced if unspecified
27 | goal: 0.02
28 | joint5:
29 | trajectory: 0.05 # Not enforced if unspecified
30 | goal: 0.02
31 | joint6:
32 | trajectory: 0.05 # Not enforced if unspecified
33 | goal: 0.02
34 | gains:
35 | joint1: {p: 2000, d: 100, i: 10, i_clamp: 1}
36 | joint2: {p: 2000, d: 100, i: 10, i_clamp: 1}
37 | joint3: {p: 2000, d: 100, i: 10, i_clamp: 1}
38 | joint4: {p: 2000, d: 100, i: 10, i_clamp: 1}
39 | joint5: {p: 2000, d: 100, i: 10, i_clamp: 1}
40 | joint6: {p: 2000, d: 100, i: 10, i_clamp: 1}
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/package_template/worlds/no_gravity.world.xacro:
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1 |
2 |
3 |
4 |
5 |
6 |
7 |
8 |
9 | 0.01
10 | 1
11 | 100
12 |
13 |
14 | world
15 |
16 |
17 |
18 |
19 | 0.0 0.0 0.0
20 | 0.0 0.0 0.0
21 |
22 |
23 | model://sun
24 |
25 |
26 |
27 |
28 |
29 |
30 |
31 | 0 0 0 0 0 0
32 | false
33 |
34 |
35 |
36 | 0.001 0.001 0.001
37 |
38 |
39 |
40 |
41 |
42 |
43 | 0.1 0.1 0.1
44 |
45 |
46 |
47 |
48 |
49 |
50 |
51 |
52 |
53 |
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/docs/examples.md:
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1 | # Examples of Applications using OnOrbitROS
2 |
3 | In this section you can find different examples that exploit OnOrbitROS functionalities. They can serve as a guide to develop your own application, based on these or from scratch.
4 |
5 | ---
6 |
7 | ## Template
8 |
9 | A template package, called **package_template** has been created to allocate the basic functionalities of a simulation using OnOrbitROS. It serves as a guide to create custom applications from it.
10 |
11 | When the launch file is loaded the world with a 1U cubesat in the world, describing the ETS VII's orbit.
12 |
13 | roslaunch package_template default.launch
14 |
15 | ---
16 |
17 | ## ETS VII
18 |
19 | The package **ets_vii** contains the simulation of the Japanese satellite ETS VII presented in
20 |
21 | Ramón, J. L., Pomares, J., & Felicetti, L. (2023). Task space control for on-orbit space robotics using a new ROS-based framework. Simulation Modelling Practice and Theory, 127(102790), 102790. [https://doi.org/10.1016/j.simpat.2023.102790](https://doi.org/10.1016/j.simpat.2023.102790)
22 |
23 |
24 | The project is launched with the following command, that loads the satellite with a robotic manipulator performing a trajectory after 10 minutes. It includes cartesian controllers to perform On Orbit Servicing tasks (for more information please refer to the previous article).
25 |
26 | roslaunch ets_vii effort_controllers_wgg.launch
27 |
28 |
29 |
30 |
31 |
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/site/assets/javascripts/lunr/min/lunr.te.min.js:
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1 | !function(e,t){"function"==typeof define&&define.amd?define(t):"object"==typeof exports?module.exports=t():t()(e.lunr)}(this,function(){return function(e){if(void 0===e)throw new Error("Lunr is not present. Please include / require Lunr before this script.");if(void 0===e.stemmerSupport)throw new Error("Lunr stemmer support is not present. Please include / require Lunr stemmer support before this script.");e.te=function(){this.pipeline.reset(),this.pipeline.add(e.te.trimmer,e.te.stopWordFilter,e.te.stemmer),this.searchPipeline&&(this.searchPipeline.reset(),this.searchPipeline.add(e.te.stemmer))},e.te.wordCharacters="ఀ-ఄఅ-ఔక-హా-ౌౕ-ౖౘ-ౚౠ-ౡౢ-ౣ౦-౯౸-౿఼ఽ్ౝ౷",e.te.trimmer=e.trimmerSupport.generateTrimmer(e.te.wordCharacters),e.Pipeline.registerFunction(e.te.trimmer,"trimmer-te"),e.te.stopWordFilter=e.generateStopWordFilter("అందరూ అందుబాటులో అడగండి అడగడం అడ్డంగా అనుగుణంగా అనుమతించు అనుమతిస్తుంది అయితే ఇప్పటికే ఉన్నారు ఎక్కడైనా ఎప్పుడు ఎవరైనా ఎవరో ఏ ఏదైనా ఏమైనప్పటికి ఒక ఒకరు కనిపిస్తాయి కాదు కూడా గా గురించి చుట్టూ చేయగలిగింది తగిన తర్వాత దాదాపు దూరంగా నిజంగా పై ప్రకారం ప్రక్కన మధ్య మరియు మరొక మళ్ళీ మాత్రమే మెచ్చుకో వద్ద వెంట వేరుగా వ్యతిరేకంగా సంబంధం".split(" ")),e.te.stemmer=function(){return function(e){return"function"==typeof e.update?e.update(function(e){return e}):e}}();var t=e.wordcut;t.init(),e.te.tokenizer=function(r){if(!arguments.length||null==r||void 0==r)return[];if(Array.isArray(r))return r.map(function(t){return isLunr2?new e.Token(t.toLowerCase()):t.toLowerCase()});var i=r.toString().toLowerCase().replace(/^\s+/,"");return t.cut(i).split("|")},e.Pipeline.registerFunction(e.te.stemmer,"stemmer-te"),e.Pipeline.registerFunction(e.te.stopWordFilter,"stopWordFilter-te")}});
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/package_template/worlds/no_gravity.world:
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1 |
2 |
3 |
4 |
5 |
6 |
7 |
8 |
9 |
10 | 0.01
11 | 1
12 | 100
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15 | world
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19 | 0.0 0.0 0.0
20 | 0.0 0.0 0.0
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/docs/index.md:
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1 | # Welcome to OnOrbitROS
2 | 
3 |
4 | OnOrbitROS is a unified open-source framework for space-robotics
5 | simulations. It is based on Robot Operating System (ROS) and includes and reproduces the principal environmental conditions that eventual space robots and manipulators could experience in an on-orbit servicing scenario.
6 |
7 |
8 | ## About Us
9 |
10 |
11 |
12 | Developed by Human Robotics (HURO) group, University of Alicante (Spain).
13 | In collaboration with the School of Aerospace, Transport and Manufacturing, Cranfield University (United Kingdom).
14 |
15 | 
16 |
17 |
18 | Space robotics broadly encompasses the application of robots and autonomous systems for operations in the space environment. HURO Space Robotics section investigates the development of robotic systems and their control for performing tasks in space.
19 |
20 | !!! note
21 | You can find more information about this project and other works in our website:
22 | [HURO Space Robotics](https://www.huro.ua.es/index.php/research/research-lines/space-robotics)
23 |
24 | Follow us on [LinkedIn](https://www.linkedin.com/company/human-robotics-huro/mycompany/) for more updates!
25 |
26 | ## Licenses
27 |
28 | You are welcome to use this project, but please cite our work so we can keep developing applications.
29 |
30 | !!! warning
31 | Ramón, J. L., Pomares, J., & Felicetti, L. (2023).
32 | Task space control for on-orbit space robotics using a new ROS-based framework.
33 | Simulation Modelling Practice and Theory, 127(102790), 102790.
34 | [https://doi.org/10.1016/j.simpat.2023.102790](https://doi.org/10.1016/j.simpat.2023.102790)
35 |
36 |
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/ets_vii/package.xml:
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3 | ets_vii
4 | 0.0.0
5 | The ets_vii package
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10 | jose
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/ets_vii/launch/effort_controllers_indivudual.launch:
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/ets_vii/launch/only_the_model.launch:
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/axis_by_axis/package.xml:
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3 | axis_by_axis
4 | 0.0.0
5 | The axis_by_axis package
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10 | Jose Luis Ramon Carretero
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52 | roscpp
53 | rospy
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59 | rospy
60 | std_msgs
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/docs/troubleshooting.md:
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1 | # Troubleshooting
2 |
3 | In this page you will find the collection of tips for solving possible errors mentioned throughout this documentation. There are some other comments included that might be of help when using the framework.
4 |
5 | ### World File not loading
6 | If you encounter any errors when launching the world, for example that the default Gazebo world loads instead of your own, create manually the `.world` file from the `.xacro` and leave it in the worlds forlder by executing the following command:
7 |
8 | $ rosrun xacro xacro .world.xacro > .world
9 | ---
10 |
11 | ### Plugin Library not updating
12 | If you have modified a plugin library, such as the `laserPlugin.cpp` or `Orbit_robot_pkg_plugin.cpp` and they do not update, try removing the `.so` file from the workspace `devel` or `devel_isolated` folders and the folder `orbit_robot_pkg` from the `build` or `build_isolated` folders. Those `.so` files should be located as this example: `>> /devel/orbit_robot_pkg/lib/`. Then do another `catkin_make` and `source devel/setup.bash` so it generates the files again.
13 |
14 | ---
15 |
16 | ### Robot model drifting when launching the simulation
17 | If you launch the simulation in Gazebo and the robot or spacecraft model located at the origin of the LVLH drifts away it is because the default world's LVLH link has a visual cube with physical properties. When the simulation loads and some part of your model intersects with the LVLH visual link, it produces a collision that makes your model to drift away.
18 |
19 | In this case you have 2 options:
20 |
21 | - Change the origin of your model in the `.launch` file, NOT in the `.xacro` file, so they don't collide: ``
22 | - Hide the LVLH base link removing its visual components to this declaration: ``
23 |
24 | ---
25 |
26 | ### Missing Controllers' packages
27 | In addition to the Ubuntu installation with its packages, it might be necessary to manually install these other packages. This is because OnOrbitROS takes advantages of packages already developed in ROS to improve its functionalities.
28 |
29 | Packages for the controllers:
30 |
31 | - [Controller Manager](https://wiki.ros.org/controller_manager): `$ sudo apt-get install ros-noetic-controller-manager`
32 | - [Joint State Controller](https://wiki.ros.org/joint_state_controller): `$ sudo apt-get install ros-noetic-joint-state-controller`
33 | - [Effort Controller](https://wiki.ros.org/effort_controllers): `$ sudo apt-get install ros-noetic-effort-controller`
34 | - [Position Controllers](https://wiki.ros.org/position_controllers): `$ sudo apt-get install ros-noetic-position-controllers`
35 |
36 | ---
37 |
38 | ### Rosbag missing
39 | To save the information in a file use the following command on your launch. If the folder you have specified in the command does not exist, the rosbag will not be saved. By default it is located under the folder `log` in the project.
40 |
41 |
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/ets_vii/launch/effort_controllers.launch:
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/orbit_publisher_pkg/src/fix_orbit_publisher_pkg_node.cpp:
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1 | /*** Orbit Publisher Node ***/
2 | /*
3 | Reads the information of the orbit defined in the .yaml file.
4 | Publishes the information needed for the simulation, as the position, velocity, air density and more.
5 | Here is the LVLH information in reference to the ECI's frame.
6 |
7 | The .yaml file is loaded in this package's .launch (fix_basic.launch) as follows:
8 |
9 |
10 |
11 |
12 |
13 |
14 |
15 | In case more information is needed from the other plugins it should be published from this script.
16 | If additional (new) information is needed must be defined in "Orbit.h", declared in ".yaml", read by "Orbit.cpp" and published here.
17 |
18 | Node personalized for the simulation of the orbits.
19 |
20 | Developed by: Human Robotics Laboratoy (University of Alicante)
21 | https://www.huro.ua.es/index.php/research/research-lines/space-robotics
22 | */
23 | #include "ros/ros.h"
24 | #include "std_msgs/String.h"
25 | #include "geometry_msgs/Pose.h"
26 | #include "geometry_msgs/Vector3.h"
27 | #include "orbit_publisher_pkg/Orbit.h"
28 |
29 | #include
30 |
31 | // Calculated LVLH
32 | int main(int argc, char **argv)
33 | {
34 | int rate;
35 | ros::init(argc, argv, "OrbitPositionPublisher"); // Published the orbital information required for the simulation
36 | ros::NodeHandle n;
37 | std::string node_name = ros::this_node::getNamespace();
38 | ros::Publisher orbit_position_pub = n.advertise("/OrbitPosition", 1000);
39 | ros::Publisher orbit_velocity_pub = n.advertise("/OrbitVelocity", 1000);
40 |
41 |
42 | if (!n.getParam("/" + node_name + "/publish_rate",rate))
43 | {
44 | rate = 10;
45 | }
46 | ros::Rate loop_rate(rate);
47 |
48 | geometry_msgs::Pose pos;
49 |
50 | if (!n.getParam("/" + node_name + "/pos_x",pos.position.x))
51 | {
52 | pos.position.x = 0.0;
53 | }
54 | if (!n.getParam("/" + node_name + "/pos_y",pos.position.y))
55 | {
56 | pos.position.y = 0.0;
57 | }
58 | if (!n.getParam("/" + node_name + "/pos_z",pos.position.z))
59 | {
60 | pos.position.z = 0.0;
61 | }
62 | if (!n.getParam("/" + node_name + "/orientation_x",pos.orientation.x))
63 | {
64 | pos.orientation.x = 0.0;
65 | }
66 | if (!n.getParam("/" + node_name + "/orientation_y",pos.orientation.y))
67 | {
68 | pos.orientation.y = 0.0;
69 | }
70 | if (!n.getParam("/" + node_name + "/orientation_z",pos.orientation.z))
71 | {
72 | pos.orientation.z = 0.0;
73 | }
74 | if (!n.getParam("/" + node_name + "/orientation_w",pos.orientation.w))
75 | {
76 | pos.orientation.w = 1.0;
77 | }
78 |
79 | while (ros::ok())
80 | {
81 | orbit_position_pub.publish(pos);
82 | ros::spinOnce();
83 | loop_rate.sleep();
84 | }
85 | return 0;
86 | }
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/package_template/package.xml:
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4 | 0.0.0
5 | The package_template package
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56 | std_msgs
57 | urdf
58 | gazebo_ros
59 | geometry_msgs
60 | roscpp
61 | std_msgs
62 | urdf
63 | gazebo_ros
64 | geometry_msgs
65 | roscpp
66 | std_msgs
67 | urdf
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/site/assets/javascripts/lunr/min/lunr.stemmer.support.min.js:
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1 | !function(r,t){"function"==typeof define&&define.amd?define(t):"object"==typeof exports?module.exports=t():t()(r.lunr)}(this,function(){return function(r){r.stemmerSupport={Among:function(r,t,i,s){if(this.toCharArray=function(r){for(var t=r.length,i=new Array(t),s=0;s=i&&(e-=i,t[e>>3]&1<<(7&e)))return this.cursor++,!0}return!1},in_grouping_b:function(t,i,s){if(this.cursor>this.limit_backward){var e=r.charCodeAt(this.cursor-1);if(e<=s&&e>=i&&(e-=i,t[e>>3]&1<<(7&e)))return this.cursor--,!0}return!1},out_grouping:function(t,i,s){if(this.cursors||e>3]&1<<(7&e)))return this.cursor++,!0}return!1},out_grouping_b:function(t,i,s){if(this.cursor>this.limit_backward){var e=r.charCodeAt(this.cursor-1);if(e>s||e>3]&1<<(7&e)))return this.cursor--,!0}return!1},eq_s:function(t,i){if(this.limit-this.cursor>1),f=0,l=o0||e==s||c)break;c=!0}}for(;;){var _=t[s];if(o>=_.s_size){if(this.cursor=n+_.s_size,!_.method)return _.result;var b=_.method();if(this.cursor=n+_.s_size,b)return _.result}if((s=_.substring_i)<0)return 0}},find_among_b:function(t,i){for(var s=0,e=i,n=this.cursor,u=this.limit_backward,o=0,h=0,c=!1;;){for(var a=s+(e-s>>1),f=0,l=o=0;m--){if(n-l==u){f=-1;break}if(f=r.charCodeAt(n-1-l)-_.s[m])break;l++}if(f<0?(e=a,h=l):(s=a,o=l),e-s<=1){if(s>0||e==s||c)break;c=!0}}for(;;){var _=t[s];if(o>=_.s_size){if(this.cursor=n-_.s_size,!_.method)return _.result;var b=_.method();if(this.cursor=n-_.s_size,b)return _.result}if((s=_.substring_i)<0)return 0}},replace_s:function(t,i,s){var e=s.length-(i-t),n=r.substring(0,t),u=r.substring(i);return r=n+s+u,this.limit+=e,this.cursor>=i?this.cursor+=e:this.cursor>t&&(this.cursor=t),e},slice_check:function(){if(this.bra<0||this.bra>this.ket||this.ket>this.limit||this.limit>r.length)throw"faulty slice operation"},slice_from:function(r){this.slice_check(),this.replace_s(this.bra,this.ket,r)},slice_del:function(){this.slice_from("")},insert:function(r,t,i){var s=this.replace_s(r,t,i);r<=this.bra&&(this.bra+=s),r<=this.ket&&(this.ket+=s)},slice_to:function(){return this.slice_check(),r.substring(this.bra,this.ket)},eq_v_b:function(r){return this.eq_s_b(r.length,r)}}}},r.trimmerSupport={generateTrimmer:function(r){var t=new RegExp("^[^"+r+"]+"),i=new RegExp("[^"+r+"]+$");return function(r){return"function"==typeof r.update?r.update(function(r){return r.replace(t,"").replace(i,"")}):r.replace(t,"").replace(i,"")}}}}});
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/site/assets/javascripts/lunr/min/lunr.ko.min.js:
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1 | !function(e,r){"function"==typeof define&&define.amd?define(r):"object"==typeof exports?module.exports=r():r()(e.lunr)}(this,function(){return function(e){if(void 0===e)throw new Error("Lunr is not present. Please include / require Lunr before this script.");if(void 0===e.stemmerSupport)throw new Error("Lunr stemmer support is not present. Please include / require Lunr stemmer support before this script.");e.ko=function(){this.pipeline.reset(),this.pipeline.add(e.ko.trimmer,e.ko.stopWordFilter)},e.ko.wordCharacters="[A-Za-z가-힣]",e.ko.trimmer=e.trimmerSupport.generateTrimmer(e.ko.wordCharacters),e.Pipeline.registerFunction(e.ko.trimmer,"trimmer-ko"),e.ko.stopWordFilter=e.generateStopWordFilter("아 휴 아이구 아이쿠 아이고 어 나 우리 저희 따라 의해 을 를 에 의 가 으로 로 에게 뿐이다 의거하여 근거하여 입각하여 기준으로 예하면 예를 들면 예를 들자면 저 소인 소생 저희 지말고 하지마 하지마라 다른 물론 또한 그리고 비길수 없다 해서는 안된다 뿐만 아니라 만이 아니다 만은 아니다 막론하고 관계없이 그치지 않다 그러나 그런데 하지만 든간에 논하지 않다 따지지 않다 설사 비록 더라도 아니면 만 못하다 하는 편이 낫다 불문하고 향하여 향해서 향하다 쪽으로 틈타 이용하여 타다 오르다 제외하고 이 외에 이 밖에 하여야 비로소 한다면 몰라도 외에도 이곳 여기 부터 기점으로 따라서 할 생각이다 하려고하다 이리하여 그리하여 그렇게 함으로써 하지만 일때 할때 앞에서 중에서 보는데서 으로써 로써 까지 해야한다 일것이다 반드시 할줄알다 할수있다 할수있어 임에 틀림없다 한다면 등 등등 제 겨우 단지 다만 할뿐 딩동 댕그 대해서 대하여 대하면 훨씬 얼마나 얼마만큼 얼마큼 남짓 여 얼마간 약간 다소 좀 조금 다수 몇 얼마 지만 하물며 또한 그러나 그렇지만 하지만 이외에도 대해 말하자면 뿐이다 다음에 반대로 반대로 말하자면 이와 반대로 바꾸어서 말하면 바꾸어서 한다면 만약 그렇지않으면 까악 툭 딱 삐걱거리다 보드득 비걱거리다 꽈당 응당 해야한다 에 가서 각 각각 여러분 각종 각자 제각기 하도록하다 와 과 그러므로 그래서 고로 한 까닭에 하기 때문에 거니와 이지만 대하여 관하여 관한 과연 실로 아니나다를가 생각한대로 진짜로 한적이있다 하곤하였다 하 하하 허허 아하 거바 와 오 왜 어째서 무엇때문에 어찌 하겠는가 무슨 어디 어느곳 더군다나 하물며 더욱이는 어느때 언제 야 이봐 어이 여보시오 흐흐 흥 휴 헉헉 헐떡헐떡 영차 여차 어기여차 끙끙 아야 앗 아야 콸콸 졸졸 좍좍 뚝뚝 주룩주룩 솨 우르르 그래도 또 그리고 바꾸어말하면 바꾸어말하자면 혹은 혹시 답다 및 그에 따르는 때가 되어 즉 지든지 설령 가령 하더라도 할지라도 일지라도 지든지 몇 거의 하마터면 인젠 이젠 된바에야 된이상 만큼\t어찌됏든 그위에 게다가 점에서 보아 비추어 보아 고려하면 하게될것이다 일것이다 비교적 좀 보다더 비하면 시키다 하게하다 할만하다 의해서 연이서 이어서 잇따라 뒤따라 뒤이어 결국 의지하여 기대여 통하여 자마자 더욱더 불구하고 얼마든지 마음대로 주저하지 않고 곧 즉시 바로 당장 하자마자 밖에 안된다 하면된다 그래 그렇지 요컨대 다시 말하자면 바꿔 말하면 즉 구체적으로 말하자면 시작하여 시초에 이상 허 헉 허걱 바와같이 해도좋다 해도된다 게다가 더구나 하물며 와르르 팍 퍽 펄렁 동안 이래 하고있었다 이었다 에서 로부터 까지 예하면 했어요 해요 함께 같이 더불어 마저 마저도 양자 모두 습니다 가까스로 하려고하다 즈음하여 다른 다른 방면으로 해봐요 습니까 했어요 말할것도 없고 무릎쓰고 개의치않고 하는것만 못하다 하는것이 낫다 매 매번 들 모 어느것 어느 로써 갖고말하자면 어디 어느쪽 어느것 어느해 어느 년도 라 해도 언젠가 어떤것 어느것 저기 저쪽 저것 그때 그럼 그러면 요만한걸 그래 그때 저것만큼 그저 이르기까지 할 줄 안다 할 힘이 있다 너 너희 당신 어찌 설마 차라리 할지언정 할지라도 할망정 할지언정 구토하다 게우다 토하다 메쓰겁다 옆사람 퉤 쳇 의거하여 근거하여 의해 따라 힘입어 그 다음 버금 두번째로 기타 첫번째로 나머지는 그중에서 견지에서 형식으로 쓰여 입장에서 위해서 단지 의해되다 하도록시키다 뿐만아니라 반대로 전후 전자 앞의것 잠시 잠깐 하면서 그렇지만 다음에 그러한즉 그런즉 남들 아무거나 어찌하든지 같다 비슷하다 예컨대 이럴정도로 어떻게 만약 만일 위에서 서술한바와같이 인 듯하다 하지 않는다면 만약에 무엇 무슨 어느 어떤 아래윗 조차 한데 그럼에도 불구하고 여전히 심지어 까지도 조차도 하지 않도록 않기 위하여 때 시각 무렵 시간 동안 어때 어떠한 하여금 네 예 우선 누구 누가 알겠는가 아무도 줄은모른다 줄은 몰랏다 하는 김에 겸사겸사 하는바 그런 까닭에 한 이유는 그러니 그러니까 때문에 그 너희 그들 너희들 타인 것 것들 너 위하여 공동으로 동시에 하기 위하여 어찌하여 무엇때문에 붕붕 윙윙 나 우리 엉엉 휘익 윙윙 오호 아하 어쨋든 만 못하다\t하기보다는 차라리 하는 편이 낫다 흐흐 놀라다 상대적으로 말하자면 마치 아니라면 쉿 그렇지 않으면 그렇지 않다면 안 그러면 아니었다면 하든지 아니면 이라면 좋아 알았어 하는것도 그만이다 어쩔수 없다 하나 일 일반적으로 일단 한켠으로는 오자마자 이렇게되면 이와같다면 전부 한마디 한항목 근거로 하기에 아울러 하지 않도록 않기 위해서 이르기까지 이 되다 로 인하여 까닭으로 이유만으로 이로 인하여 그래서 이 때문에 그러므로 그런 까닭에 알 수 있다 결론을 낼 수 있다 으로 인하여 있다 어떤것 관계가 있다 관련이 있다 연관되다 어떤것들 에 대해 이리하여 그리하여 여부 하기보다는 하느니 하면 할수록 운운 이러이러하다 하구나 하도다 다시말하면 다음으로 에 있다 에 달려 있다 우리 우리들 오히려 하기는한데 어떻게 어떻해 어찌됏어 어때 어째서 본대로 자 이 이쪽 여기 이것 이번 이렇게말하자면 이런 이러한 이와 같은 요만큼 요만한 것 얼마 안 되는 것 이만큼 이 정도의 이렇게 많은 것 이와 같다 이때 이렇구나 것과 같이 끼익 삐걱 따위 와 같은 사람들 부류의 사람들 왜냐하면 중의하나 오직 오로지 에 한하다 하기만 하면 도착하다 까지 미치다 도달하다 정도에 이르다 할 지경이다 결과에 이르다 관해서는 여러분 하고 있다 한 후 혼자 자기 자기집 자신 우에 종합한것과같이 총적으로 보면 총적으로 말하면 총적으로 대로 하다 으로서 참 그만이다 할 따름이다 쿵 탕탕 쾅쾅 둥둥 봐 봐라 아이야 아니 와아 응 아이 참나 년 월 일 령 영 일 이 삼 사 오 육 륙 칠 팔 구 이천육 이천칠 이천팔 이천구 하나 둘 셋 넷 다섯 여섯 일곱 여덟 아홉 령 영".split(" ")),e.Pipeline.registerFunction(e.ko.stopWordFilter,"stopWordFilter-ko"),e.ko.stemmer=function(){return function(e){return"function"==typeof e.update?e.update(function(e){return e}):e}}(),e.Pipeline.registerFunction(e.ko.stemmer,"stemmer-ko")}});
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/docs/Install.md:
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1 | # Installation Guide
2 |
3 | OnOrbitROS framework can be found on [this](https://github.com/OnOrbitROS) GitHub; the main application is **Simulation**. There you will find the packages to install in your ROS environment as well as different guided examples to discover the functionalities OnOrbitROS offers. With this framework it is also possible to create new projects from the existing ones or from scrath.
4 |
5 | ---
6 |
7 | ## ROS Distribution
8 | The project has been developed in ROS Noetic (Ubuntu 20.04). The Ubuntu intallation guidelines can be found [here](https://wiki.ros.org/noetic/Installation/Ubuntu). ROS offers many tutorials and guides to help you set up and work with your environments and projects, that can be accessed through [ROS Wiki](https://wiki.ros.org/).
9 |
10 | ---
11 |
12 | ## Gazebo Simulator
13 |
14 | Gazebo is an open-source and free simulation tool specifically designed for fast and efficient test development. It has been selected as it can simulate complex 3D environments where each element possesses properties such as mass, velocity, and friction, and can accurately represent the dynamics and interations of space robots in complex 3D settings, so it is possible to create a realistic simulation of on-orbit conditions. Install from [here](https://classic.gazebosim.org/tutorials?tut=install_ubuntu).
15 |
16 | There is high interation of Gazebo within ROS: simulations are generated from an XML file based on the SDF description language (extension of URDF that ROS uses for robot description) for quick and easy creations and configurations; and it is possible to include additional plugins to extend its functionalities.
17 |
18 | OnOrbitROS includes different plugins to simulate the on-orbit-specific conditions (using existing standard and available ROS/Gazebo packages to develop complex tasks). Also, Gazebo integrates interfaces to use multiple physics engines such as Open Dynamics Engine, Bullet, Simbody, Dynamic Animation and Robotics Toolkit (DART).
19 |
20 | ---
21 |
22 | ## OnOrbitROS Framework
23 | Import the ROS framework from the GitHub (found [here](https://github.com/OnOrbitROS)).
24 |
25 | 0. Install ROS and create an ROS environment (or use a previous one). The tutorial for doing so can be found [here](https://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment).
26 | 1. Download the framework with `git clone` or manually into your desired ROS environment.
27 | 2. Build the environment with `catkin_make` or `catkin_make_isolated`.
28 | 3. Solve any dependency problems that might occur. See [Other packages](#other-packages) for help.
29 |
30 | You can now start working with the framework.
31 |
32 | ---
33 |
34 | ## Examples of Applications
35 | In case you would like to install the example cases:
36 |
37 | 1. Download the example you want with `git clone` or manually into the folder `orbit_ws/src`.
38 | 2. Build the environment with `catkin_make` or `catkin_make_isolated`.
39 | 3. Execute the `.launch` corresponding to that example. See the specific example documentation for that (found in [Examples of Applications](examples.md))
40 |
41 | ---
42 |
43 | ## Other packages
44 | In addition to the Ubuntu installation with its packages, it might be necessary to manually install these other packages. This is because OnOrbitROS takes advantages of packages already developed in ROS to improve its functionalities.
45 |
46 | Packages for the controllers:
47 |
48 | - [Controller Manager](https://wiki.ros.org/controller_manager): `$ sudo apt-get install ros-noetic-controller-manager`
49 | - [Joint State Controller](https://wiki.ros.org/joint_state_controller): `$ sudo apt-get install ros-noetic-joint-state-controller`
50 | - [Effort Controller](https://wiki.ros.org/effort_controllers): `$ sudo apt-get install ros-noetic-effort-controller`
51 | - [Position Controllers](https://wiki.ros.org/position_controllers): `$ sudo apt-get install ros-noetic-position-controllers`
52 |
53 |
54 |
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/docs/experiments.md:
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1 | # Experiments to validate OnOrbitROS
2 |
3 | Some experiments have been conducted to validate the framework.
4 |
5 | ---
6 |
7 | ## OnOrbitROS Dynamics: ETS VII simulation
8 |
9 | The dynamics of the ETS VII robotic experiments are simulated and compared to the actual flight data obtained from the mission.
10 |
11 | The results obtained are presented in:
12 |
13 | Ramón, J. L., Pomares, J., & Felicetti, L. (2023). Task space control for on-orbit space robotics using a new ROS-based framework. Simulation Modelling Practice and Theory, 127(102790), 102790. [https://doi.org/10.1016/j.simpat.2023.102790](https://doi.org/10.1016/j.simpat.2023.102790)
14 |
15 |
16 | And compared to the real mission from:
17 |
18 | S. Abiko, K. Yoshida, Post flight analysis of ETS-VII space robotic experiments, in: Proceedings of the 6th International Symposium on Artificial Intelligence and Robotics & Automation in Space: I-SAIRAS, St-Hubert, Quebec, Canada, 2001.
19 |
20 | and
21 |
22 | K. Yoshida, Engineering test satellite VII flight experiments for space robot dynamics and control: theories on laboratory test beds ten years ago, now in orbit, Int. J. Rob. Res. 22 (2003) 321–335, https://doi.org/10.1177/0278364903022005003.
23 |
24 |
25 | ---
26 |
27 | ## OnOrbitROS propagator
28 |
29 | Two orbits, a circular an elliptic, have been simulated and compared to GMAT's RungeKutta89 propagator.
30 | The satellite used is a sphere with 1m of diameter orbiting around Earth in LEO.
31 |
32 | The selected orbit has been taken from the Cubesat XI-V orbit on 17th April 2024:
33 |
34 | ```yaml
35 | 1 28895U 05042F 24108.35401664 .00006071 00000-0 10830-2 0 9996
36 | 2 28895 98.1916 244.1444 0015992 185.6352 174.4674 14.67269849985536
37 | ```
38 |
39 | >> ### Circular Orbit
40 |
41 | The orbit has been taken from the previous TLE set (in km and º) and the eccentricity set to 0:
42 |
43 | eccentricity: 0.0
44 | semi_major_axis: 7047.5
45 | inclination: 98.1916
46 | rate_of_right_ascension: 244.1444
47 | right_ascension_ini: 244.1444
48 | argument_of_perigee_ini: 185.6352
49 | rate_argument_Of_perigee: 185.6352
50 | mean_anomaly_ini: 174.4674
51 |
52 | time_pass_perigee:
53 | sec : 0
54 | min: 0
55 | hour: 0
56 | mday: 1
57 | mon: 1
58 | year: 2000
59 |
60 | time_start:
61 | sec : 0
62 | min: 0
63 | hour: 0
64 | mday: 1
65 | mon: 1
66 | year: 2000
67 |
68 |
69 |
70 | In the graphs below, the orbital position relative to the ECI (Earth MJ2000) frame is shown for the first 15,000 seconds of the propagated orbit. The left panels display results from OnOrbitROS, while the right one show results from GMAT. The `x`, `y`, and `z` axes are represented in red, green, and blue respectively. The satellite's altitude is depicted in orange.
71 |
72 | The table following the graphs presents the numerical data for the maximum values of the orbital position and the mean altitude. The orbital shapes and maximum values obtained using OnOrbitROS are consistent with those from GMAT, with relative errors under 1%, using GMAT as the reference standard.
73 |
74 |
75 |
76 |
77 |
78 |
79 | >> ### Elliptic Orbit
80 |
81 | The same orbit has been evaluated in this case with an eccentricity value of 0.01.
82 |
83 | eccentricity: 0.01
84 |
85 | The following graphs show the results for the elliptic orbit, following the same format as used for the circular orbit. The shapes of the orbits in both cases are consistent, with a maximum relative error of 1.64%.
86 |
87 |
88 |
89 |
90 |
91 |
92 | ---
93 |
94 | ## Other validations
95 |
96 |
97 | !!! Warning
98 | More validations on orbital mechanics and perturbation modelling to come.
99 |
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/package_template/launch/default.launch:
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/site/assets/javascripts/lunr/min/lunr.sv.min.js:
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1 | /*!
2 | * Lunr languages, `Swedish` language
3 | * https://github.com/MihaiValentin/lunr-languages
4 | *
5 | * Copyright 2014, Mihai Valentin
6 | * http://www.mozilla.org/MPL/
7 | */
8 | /*!
9 | * based on
10 | * Snowball JavaScript Library v0.3
11 | * http://code.google.com/p/urim/
12 | * http://snowball.tartarus.org/
13 | *
14 | * Copyright 2010, Oleg Mazko
15 | * http://www.mozilla.org/MPL/
16 | */
17 |
18 | !function(e,r){"function"==typeof define&&define.amd?define(r):"object"==typeof exports?module.exports=r():r()(e.lunr)}(this,function(){return function(e){if(void 0===e)throw new Error("Lunr is not present. Please include / require Lunr before this script.");if(void 0===e.stemmerSupport)throw new Error("Lunr stemmer support is not present. Please include / require Lunr stemmer support before this script.");e.sv=function(){this.pipeline.reset(),this.pipeline.add(e.sv.trimmer,e.sv.stopWordFilter,e.sv.stemmer),this.searchPipeline&&(this.searchPipeline.reset(),this.searchPipeline.add(e.sv.stemmer))},e.sv.wordCharacters="A-Za-zªºÀ-ÖØ-öø-ʸˠ-ˤᴀ-ᴥᴬ-ᵜᵢ-ᵥᵫ-ᵷᵹ-ᶾḀ-ỿⁱⁿₐ-ₜKÅℲⅎⅠ-ↈⱠ-ⱿꜢ-ꞇꞋ-ꞭꞰ-ꞷꟷ-ꟿꬰ-ꭚꭜ-ꭤff-stＡ-Ｚａ-ｚ",e.sv.trimmer=e.trimmerSupport.generateTrimmer(e.sv.wordCharacters),e.Pipeline.registerFunction(e.sv.trimmer,"trimmer-sv"),e.sv.stemmer=function(){var r=e.stemmerSupport.Among,n=e.stemmerSupport.SnowballProgram,t=new function(){function e(){var e,r=w.cursor+3;if(o=w.limit,0<=r||r<=w.limit){for(a=r;;){if(e=w.cursor,w.in_grouping(l,97,246)){w.cursor=e;break}if(w.cursor=e,w.cursor>=w.limit)return;w.cursor++}for(;!w.out_grouping(l,97,246);){if(w.cursor>=w.limit)return;w.cursor++}o=w.cursor,o=o&&(w.limit_backward=o,w.cursor=w.limit,w.ket=w.cursor,e=w.find_among_b(u,37),w.limit_backward=r,e))switch(w.bra=w.cursor,e){case 1:w.slice_del();break;case 2:w.in_grouping_b(d,98,121)&&w.slice_del()}}function i(){var e=w.limit_backward;w.cursor>=o&&(w.limit_backward=o,w.cursor=w.limit,w.find_among_b(c,7)&&(w.cursor=w.limit,w.ket=w.cursor,w.cursor>w.limit_backward&&(w.bra=--w.cursor,w.slice_del())),w.limit_backward=e)}function s(){var e,r;if(w.cursor>=o){if(r=w.limit_backward,w.limit_backward=o,w.cursor=w.limit,w.ket=w.cursor,e=w.find_among_b(m,5))switch(w.bra=w.cursor,e){case 1:w.slice_del();break;case 2:w.slice_from("lös");break;case 3:w.slice_from("full")}w.limit_backward=r}}var a,o,u=[new r("a",-1,1),new r("arna",0,1),new r("erna",0,1),new r("heterna",2,1),new r("orna",0,1),new r("ad",-1,1),new r("e",-1,1),new r("ade",6,1),new r("ande",6,1),new r("arne",6,1),new r("are",6,1),new r("aste",6,1),new r("en",-1,1),new r("anden",12,1),new r("aren",12,1),new r("heten",12,1),new r("ern",-1,1),new r("ar",-1,1),new r("er",-1,1),new r("heter",18,1),new r("or",-1,1),new r("s",-1,2),new r("as",21,1),new r("arnas",22,1),new r("ernas",22,1),new r("ornas",22,1),new r("es",21,1),new r("ades",26,1),new r("andes",26,1),new r("ens",21,1),new r("arens",29,1),new r("hetens",29,1),new r("erns",21,1),new r("at",-1,1),new r("andet",-1,1),new r("het",-1,1),new r("ast",-1,1)],c=[new r("dd",-1,-1),new r("gd",-1,-1),new r("nn",-1,-1),new r("dt",-1,-1),new r("gt",-1,-1),new r("kt",-1,-1),new r("tt",-1,-1)],m=[new r("ig",-1,1),new r("lig",0,1),new r("els",-1,1),new r("fullt",-1,3),new r("löst",-1,2)],l=[17,65,16,1,0,0,0,0,0,0,0,0,0,0,0,0,24,0,32],d=[119,127,149],w=new n;this.setCurrent=function(e){w.setCurrent(e)},this.getCurrent=function(){return w.getCurrent()},this.stem=function(){var r=w.cursor;return e(),w.limit_backward=r,w.cursor=w.limit,t(),w.cursor=w.limit,i(),w.cursor=w.limit,s(),!0}};return function(e){return"function"==typeof e.update?e.update(function(e){return t.setCurrent(e),t.stem(),t.getCurrent()}):(t.setCurrent(e),t.stem(),t.getCurrent())}}(),e.Pipeline.registerFunction(e.sv.stemmer,"stemmer-sv"),e.sv.stopWordFilter=e.generateStopWordFilter("alla allt att av blev bli blir blivit de dem den denna deras dess dessa det detta dig din dina ditt du där då efter ej eller en er era ert ett från för ha hade han hans har henne hennes hon honom hur här i icke ingen inom inte jag ju kan kunde man med mellan men mig min mina mitt mot mycket ni nu när någon något några och om oss på samma sedan sig sin sina sitta själv skulle som så sådan sådana sådant till under upp ut utan vad var vara varför varit varje vars vart vem vi vid vilka vilkas vilken vilket vår våra vårt än är åt över".split(" ")),e.Pipeline.registerFunction(e.sv.stopWordFilter,"stopWordFilter-sv")}});
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1 | /*!
2 | * Lunr languages, `Danish` language
3 | * https://github.com/MihaiValentin/lunr-languages
4 | *
5 | * Copyright 2014, Mihai Valentin
6 | * http://www.mozilla.org/MPL/
7 | */
8 | /*!
9 | * based on
10 | * Snowball JavaScript Library v0.3
11 | * http://code.google.com/p/urim/
12 | * http://snowball.tartarus.org/
13 | *
14 | * Copyright 2010, Oleg Mazko
15 | * http://www.mozilla.org/MPL/
16 | */
17 |
18 | !function(e,r){"function"==typeof define&&define.amd?define(r):"object"==typeof exports?module.exports=r():r()(e.lunr)}(this,function(){return function(e){if(void 0===e)throw new Error("Lunr is not present. Please include / require Lunr before this script.");if(void 0===e.stemmerSupport)throw new Error("Lunr stemmer support is not present. Please include / require Lunr stemmer support before this script.");e.da=function(){this.pipeline.reset(),this.pipeline.add(e.da.trimmer,e.da.stopWordFilter,e.da.stemmer),this.searchPipeline&&(this.searchPipeline.reset(),this.searchPipeline.add(e.da.stemmer))},e.da.wordCharacters="A-Za-zªºÀ-ÖØ-öø-ʸˠ-ˤᴀ-ᴥᴬ-ᵜᵢ-ᵥᵫ-ᵷᵹ-ᶾḀ-ỿⁱⁿₐ-ₜKÅℲⅎⅠ-ↈⱠ-ⱿꜢ-ꞇꞋ-ꞭꞰ-ꞷꟷ-ꟿꬰ-ꭚꭜ-ꭤff-stＡ-Ｚａ-ｚ",e.da.trimmer=e.trimmerSupport.generateTrimmer(e.da.wordCharacters),e.Pipeline.registerFunction(e.da.trimmer,"trimmer-da"),e.da.stemmer=function(){var r=e.stemmerSupport.Among,i=e.stemmerSupport.SnowballProgram,n=new function(){function e(){var e,r=f.cursor+3;if(d=f.limit,0<=r&&r<=f.limit){for(a=r;;){if(e=f.cursor,f.in_grouping(w,97,248)){f.cursor=e;break}if(f.cursor=e,e>=f.limit)return;f.cursor++}for(;!f.out_grouping(w,97,248);){if(f.cursor>=f.limit)return;f.cursor++}d=f.cursor,d=d&&(r=f.limit_backward,f.limit_backward=d,f.ket=f.cursor,e=f.find_among_b(c,32),f.limit_backward=r,e))switch(f.bra=f.cursor,e){case 1:f.slice_del();break;case 2:f.in_grouping_b(p,97,229)&&f.slice_del()}}function t(){var e,r=f.limit-f.cursor;f.cursor>=d&&(e=f.limit_backward,f.limit_backward=d,f.ket=f.cursor,f.find_among_b(l,4)?(f.bra=f.cursor,f.limit_backward=e,f.cursor=f.limit-r,f.cursor>f.limit_backward&&(f.cursor--,f.bra=f.cursor,f.slice_del())):f.limit_backward=e)}function s(){var e,r,i,n=f.limit-f.cursor;if(f.ket=f.cursor,f.eq_s_b(2,"st")&&(f.bra=f.cursor,f.eq_s_b(2,"ig")&&f.slice_del()),f.cursor=f.limit-n,f.cursor>=d&&(r=f.limit_backward,f.limit_backward=d,f.ket=f.cursor,e=f.find_among_b(m,5),f.limit_backward=r,e))switch(f.bra=f.cursor,e){case 1:f.slice_del(),i=f.limit-f.cursor,t(),f.cursor=f.limit-i;break;case 2:f.slice_from("løs")}}function o(){var e;f.cursor>=d&&(e=f.limit_backward,f.limit_backward=d,f.ket=f.cursor,f.out_grouping_b(w,97,248)?(f.bra=f.cursor,u=f.slice_to(u),f.limit_backward=e,f.eq_v_b(u)&&f.slice_del()):f.limit_backward=e)}var a,d,u,c=[new r("hed",-1,1),new r("ethed",0,1),new r("ered",-1,1),new r("e",-1,1),new r("erede",3,1),new r("ende",3,1),new r("erende",5,1),new r("ene",3,1),new r("erne",3,1),new r("ere",3,1),new r("en",-1,1),new r("heden",10,1),new r("eren",10,1),new r("er",-1,1),new r("heder",13,1),new r("erer",13,1),new r("s",-1,2),new r("heds",16,1),new r("es",16,1),new r("endes",18,1),new r("erendes",19,1),new r("enes",18,1),new r("ernes",18,1),new r("eres",18,1),new r("ens",16,1),new r("hedens",24,1),new r("erens",24,1),new r("ers",16,1),new r("ets",16,1),new r("erets",28,1),new r("et",-1,1),new r("eret",30,1)],l=[new r("gd",-1,-1),new r("dt",-1,-1),new r("gt",-1,-1),new r("kt",-1,-1)],m=[new r("ig",-1,1),new r("lig",0,1),new r("elig",1,1),new r("els",-1,1),new r("løst",-1,2)],w=[17,65,16,1,0,0,0,0,0,0,0,0,0,0,0,0,48,0,128],p=[239,254,42,3,0,0,0,0,0,0,0,0,0,0,0,0,16],f=new i;this.setCurrent=function(e){f.setCurrent(e)},this.getCurrent=function(){return f.getCurrent()},this.stem=function(){var r=f.cursor;return e(),f.limit_backward=r,f.cursor=f.limit,n(),f.cursor=f.limit,t(),f.cursor=f.limit,s(),f.cursor=f.limit,o(),!0}};return function(e){return"function"==typeof e.update?e.update(function(e){return n.setCurrent(e),n.stem(),n.getCurrent()}):(n.setCurrent(e),n.stem(),n.getCurrent())}}(),e.Pipeline.registerFunction(e.da.stemmer,"stemmer-da"),e.da.stopWordFilter=e.generateStopWordFilter("ad af alle alt anden at blev blive bliver da de dem den denne der deres det dette dig din disse dog du efter eller en end er et for fra ham han hans har havde have hende hendes her hos hun hvad hvis hvor i ikke ind jeg jer jo kunne man mange med meget men mig min mine mit mod ned noget nogle nu når og også om op os over på selv sig sin sine sit skal skulle som sådan thi til ud under var vi vil ville vor være været".split(" ")),e.Pipeline.registerFunction(e.da.stopWordFilter,"stopWordFilter-da")}});
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/site/assets/javascripts/lunr/min/lunr.no.min.js:
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1 | /*!
2 | * Lunr languages, `Norwegian` language
3 | * https://github.com/MihaiValentin/lunr-languages
4 | *
5 | * Copyright 2014, Mihai Valentin
6 | * http://www.mozilla.org/MPL/
7 | */
8 | /*!
9 | * based on
10 | * Snowball JavaScript Library v0.3
11 | * http://code.google.com/p/urim/
12 | * http://snowball.tartarus.org/
13 | *
14 | * Copyright 2010, Oleg Mazko
15 | * http://www.mozilla.org/MPL/
16 | */
17 |
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/site/assets/javascripts/lunr/min/lunr.he.min.js:
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/orbit_robot_pkg/src/OrbitLink.cpp:
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1 | #include "orbit_robot_pkg/OrbitLink.h"
2 |
3 | OrbitLink::OrbitLink()
4 | {
5 | }
6 |
7 | OrbitLink::~OrbitLink()
8 | {
9 | }
10 |
11 | void OrbitLink::OrbitLinkInitialize(double orbitReferenceAngularVelocity, double m, Eigen::Matrix i)
12 | {
13 | n0 = orbitReferenceAngularVelocity;
14 | Mass = m;
15 | Inertia = i;
16 | Inertia(1,0) = i(0,1);
17 | Inertia(2,0) = i(0,2);
18 | Inertia(2,1) = i(1,2);
19 |
20 | CoM << 0.0, 0.0, 0.0;
21 | CW << (3.0 * pow(n0,2)), 0.0, 0.0, 0.0, (2.0 * n0), 0.0,
22 | 0.0 , 0.0, 0.0,((-2.0) * n0), 0.0, 0.0,
23 | 0.0 , 0.0, -(pow(n0,2)), 0.0, 0.0, 0.0;
24 | // To be implemented
25 | J2 << 0.0 , 0.0 , 0.0 , 0.0 , 0.0 , 0.0,
26 | 0.0 , 0.0 , 0.0 , 0.0 , 0.0 , 0.0,
27 | 0.0 , 0.0 , 0.0 , 0.0 , 0.0 , 0.0;
28 | }
29 |
30 | Eigen::Matrix OrbitLink::AuxMatrixVectorProduct ( Eigen::Matrix vector)
31 | {
32 | Eigen::Matrix result;
33 | result << 0.0 , -vector(2), vector(1),
34 | vector(2), 0.0, -vector(0),
35 | -vector(1), vector(0), 0.0;
36 |
37 | return result;
38 | }
39 |
40 | ignition::math::v6::Vector3d OrbitLink::FromEtoI(Eigen::Matrix val)
41 | {
42 | ignition::math::v6::Vector3d res(val(0),val(1),val(2));
43 | return res;
44 | }
45 |
46 | Eigen::Matrix OrbitLink::CalcRrFromQ(Eigen::Quaternion Q)
47 | {
48 | Eigen::Matrix RrMatrix;
49 | return RrMatrix;
50 | }
51 |
52 | void OrbitLink::SetPosition( double x, double y, double z)
53 | {
54 | this->Position.x()= x;
55 | this->Position.y()= y;
56 | this->Position.z()= z;
57 | }
58 |
59 | void OrbitLink::SetVelocity (double Vx, double Vy, double Vz )
60 | {
61 | this->Velocity.x()=Vx;
62 | this->Velocity.y()=Vy;
63 | this->Velocity.z()=Vz;
64 | }
65 |
66 | void OrbitLink::SetQuaternions( double linkW, double linkX, double linkY, double linkZ,
67 | double orbitW, double orbitX, double orbitY, double orbitZ)
68 | {
69 | this->linkQ.w() = linkW;
70 | this->linkQ.x() = linkX;
71 | this->linkQ.y() = linkY;
72 | this->linkQ.z() = linkZ;
73 | this->orbitQ.w() = orbitW;
74 | this->orbitQ.x() = orbitX;
75 | this->orbitQ.y() = orbitY;
76 | this->orbitQ.z() = orbitZ;
77 |
78 |
79 | Body_Rr_Eci = this->linkQ;
80 | //if (Mass > 1000.0)
81 | //std::cout << "Body_Rr_Eci" << std::endl << Body_Rr_Eci << std::endl;
82 | LvLh_Rr_Eci = this->orbitQ;
83 | //if (Mass > 1000.0)
84 | //std::cout << "LvLh_Rr_Eci" << std::endl << LvLh_Rr_Eci << std::endl;
85 | BodyRrLvLh = Body_Rr_Eci * LvLh_Rr_Eci.transpose() ;
86 | //if (Mass > 1000.0)
87 | //std::cout << "BodyRrLvLh" << std::endl << BodyRrLvLh << std::endl;
88 | //std::cout << "Mass = " << Mass << std::endl << "BodyRrLvLh" << std::endl << BodyRrLvLh << std::endl;
89 | }
90 |
91 | void OrbitLink::DynamicsCalcForces()
92 | {
93 | PositionVelocity << Position, Velocity;
94 | Forces = (CW * PositionVelocity)* Mass + (J2 * PositionVelocity) * Mass ;
95 | Forces << 0.0 , 0.0 , 0.0 ;
96 | }
97 |
98 | ignition::math::v6::Vector3d OrbitLink::GetForcesIg()
99 | {
100 | DynamicsCalcForces();
101 | return (FromEtoI(Forces));
102 | }
103 |
104 | ignition::math::v6::Vector3d OrbitLink::GetTorqueIg()
105 | {
106 | DynamicsCalcTorque();
107 | return (FromEtoI(Torque));
108 | }
109 |
110 | void OrbitLink::DynamicsCalcTorque()
111 | {
112 | /* if (Mass > 1000.0)
113 | { */
114 |
115 |
116 | Eigen::Matrix RadialDirectionLvLh ( 1.0, 0.0, 0.0);
117 | Eigen::Matrix RadialDirectionRrBodyEx;
118 | Eigen::Matrix RadialDirectionRrBody = BodyRrLvLh * RadialDirectionLvLh;
119 | //if (Mass > 1000.0)
120 | //std::cout << "BodyRrLvLh" << std::endl << BodyRrLvLh << std::endl;
121 | //if (Mass > 1000.0)
122 | //std::cout << "RadialDirectionRrBody" << std::endl << RadialDirectionRrBody << std::endl;
123 | Eigen::Matrix GravityGradiant;
124 | Eigen::Matrix EnviromentalTorque;
125 | //if (Mass > 1000.0)
126 | //std::cout << "Inertia" << std::endl << Inertia << std::endl;
127 | Inertia = Inertia - Mass * (CoM.transpose() * CoM * Eigen::MatrixXd::Identity(3,3) - CoM * CoM.transpose());
128 | //if (Mass > 1000.0)
129 | //std::cout << "Inertia" << std::endl << Inertia << std::endl;
130 | RadialDirectionRrBodyEx = AuxMatrixVectorProduct ( RadialDirectionRrBody);
131 | //if (Mass > 1000.0)
132 | //std::cout << "RadialDirectionRrBodyEx" << std::endl << RadialDirectionRrBodyEx << std::endl;
133 | GravityGradiant = RadialDirectionRrBodyEx * (Inertia * RadialDirectionRrBody);
134 | //if (Mass > 1000.0)
135 | //std::cout << "GravityGradiant" << std::endl << GravityGradiant << std::endl;
136 | EnviromentalTorque = 3.0 * (n0 * n0) * GravityGradiant;
137 | //if (Mass > 1000.0)
138 | //std::cout << "EnviromentalTorque" << std::endl << EnviromentalTorque << std::endl;
139 |
140 | Torque = EnviromentalTorque ;
141 | }
142 |
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/orbit_robot_pkg/include/orbit_robot_pkg/OrbitLink.h:
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1 | #ifndef ORBITLINK_H
2 | #define ORBITLINK_H
3 |
4 | #include
5 | #include
6 | #include
7 | #include
8 | #include
9 | #include
10 |
11 |
12 | class OrbitLink
13 | {
14 | public:
15 | OrbitLink();
16 | virtual ~OrbitLink();
17 | void OrbitLinkInitialize(double ReferenceAngularVelocity, double mass, Eigen::Matrix i);
18 |
19 | //Getters
20 | double GetMass(){ return Mass; }
21 | Eigen::Matrix GetInertia(){ return Inertia; }
22 | Eigen::Matrix GetCoM(){ return CoM; }
23 | Eigen::Matrix GetVelocityIni() { return VelocityIni; }
24 | Eigen::Matrix GetLvLhRrLvLhIni() { return LvLhRrLvLhIni;}
25 | Eigen::Matrix GetAngularRate() { return AngularRate; }
26 | Eigen::Matrix GetPosition() { return Position; }
27 | Eigen::Matrix GetVelocity() { return Velocity; }
28 | Eigen::Matrix GetForces() { return Forces; }
29 | ignition::math::v6::Vector3d GetForcesIg();
30 | Eigen::Matrix GetBodyRrLvLh() { return BodyRrLvLh; }
31 | Eigen::Matrix GetBodyRrEci(){return Body_Rr_Eci; }
32 | Eigen::Quaternion GetLinkQ() {return linkQ; }
33 | Eigen::Quaternion GetOrbitQ() {return orbitQ; }
34 | Eigen::Matrix GetThrust() {return Thrust; }
35 | Eigen::Matrix GetTorque() {return Torque; }
36 | ignition::math::v6::Vector3d GetTorqueIg();
37 | Eigen::Matrix GetControlTorque() {return ControlTorque; }
38 | Eigen::Matrix GetCW(){return CW; }
39 | gazebo::physics::LinkPtr GetLinkSatellite(){return LinkSatellite;}
40 | ros::Publisher GetRosLinkPublisher() { return rosLinkPublisher;}
41 | //Setters
42 | void Setn0 (double val){ n0 = val; }
43 | void SetMass(double val) { Mass = val; }
44 | void SetInertia(Eigen::Matrix val) { Inertia = val; }
45 | void SetCoM( Eigen::Matrix val) { CoM = val; }
46 | void SetVelocityIni( Eigen::Matrix val) { VelocityIni = val; }
47 | void SetLvLhRrLvLhIni( Eigen::Matrix val) { LvLhRrLvLhIni = val; }
48 | void SetAngularRate ( Eigen::Matrix val) { AngularRate = val; }
49 | void SetPosition( Eigen::Matrix val) { Position = val; }
50 | void SetPosition( double x, double y, double z);
51 | void SetVelocity( Eigen::Matrix val) { Velocity = val; }
52 | void SetVelocity (double Vx, double Vy, double Vz );
53 | void SetForces( Eigen::Matrix val) { Forces = val; }
54 | void SetBodyRrLvLh( Eigen::Matrix val) { BodyRrLvLh = val; }
55 | void SetQuaternions( Eigen::Quaternion link, Eigen::Quaternion orbit ) { linkQ = link; orbitQ = orbit; }
56 | void SetQuaternions( double linkW, double linkX, double linkY, double linkZ, double orbitW, double orbitX, double orbitY, double orbitZ);
57 | void SetThrust( Eigen::Matrix val) { Thrust = val; }
58 | void SetTorque( Eigen::Matrix val) { Torque = val; }
59 | void SetControlTorque( Eigen::Matrix val) { ControlTorque = val; }
60 | void SetCW( Eigen::Matrix val) { CW = val; }
61 | void SetLinkSatellite( gazebo::physics::LinkPtr val) { LinkSatellite = val;}
62 | void SetRosLinkPublisher(ros::Publisher val) { rosLinkPublisher = val;}
63 |
64 | //Dynamics
65 | void DynamicsCalcForces();
66 | void DynamicsCalcTorque();
67 |
68 | private:
69 | //Aux
70 | Eigen::Matrix AuxMatrixVectorProduct ( Eigen::Matrix);
71 | ignition::math::Vector3d FromEtoI(Eigen::Matrix val);
72 | Eigen::Matrix CalcRrFromQ(Eigen::Quaternion Q);
73 |
74 | private:
75 | double n0;
76 | double Mass;
77 | Eigen::Matrix Inertia;
78 | Eigen::Matrix CoM;
79 | Eigen::Matrix VelocityIni;
80 | Eigen::Matrix LvLhRrLvLhIni;
81 | Eigen::Matrix AngularRate;
82 | Eigen::Matrix Position;
83 | Eigen::Matrix Velocity;
84 | Eigen::Matrix Forces;
85 | Eigen::Matrix BodyRrLvLh;
86 | Eigen::Quaternion linkQ;
87 | Eigen::Quaternion orbitQ;
88 | Eigen::Matrix Thrust;
89 | Eigen::Matrix Torque;
90 | Eigen::Matrix ControlTorque;
91 | Eigen::Matrix CW;
92 | Eigen::Matrix Body_Rr_Eci;
93 | Eigen::Matrix LvLh_Rr_Eci;
94 | Eigen::Matrix TH;
95 | Eigen::Matrix J2;
96 | Eigen::Matrix PositionVelocity;
97 | gazebo::physics::LinkPtr LinkSatellite;
98 | ros::Publisher rosLinkPublisher;
99 | };
100 |
101 | #endif // ORBITLINK_H
102 |
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/site/search/search_index.json:
--------------------------------------------------------------------------------
1 | {"config":{"lang":["en"],"separator":"[\\s\\-]+","pipeline":["stopWordFilter"]},"docs":[{"location":"","title":"Welcome to OnOrbitROS","text":"
OnOrbitROS is a unified open-source framework for space-robotics simulations. It is based on Robot Operating System (ROS) and includes and reproduces the principal environmental conditions that eventual space robots and manipulators could experience in an on-orbit servicing scenario.
Developed by Human Robotics (HURO) group, University of Alicante, Spain.
Space robotics broadly encompasses the application of robots and autonomous systems for operations in the space environment. HURO Space Robotics section investigates the development of robotic systems and their control for performing tasks in space.
You can find more information about this project and other works in our website: HURO Space Robotics
OnOrbitROS framework can be found on this GitHub. There you will find the packages to install in your ROS environment as well as different guided examples to discover the functionalities OnOrbitROS offers. With this framework it is also possible to create new projects from the existing ones or from scrath.
The project has been developed in ROS Noetic (Ubuntu 20.04). The intallation guidelines can be found here. ROS offers many tutorials and guides to help you set up and work with your environments and projects, that can be accessed through ROS Wiki.
Gazebo is an open-source and free simulation tool specifically designed for fast and efficient test development. It has been selected as it can simulate complex 3D environments where each element possesses properties such as mass, velocity, and friction, and can accurately represent the dynamics and interations of space robots in complex 3D settings, so it is possible to create a realistic simulation of on-orbit conditions. Install here.
There is high interation of Gazebo within ROS: simulations are generated from an XML file based on the SDF description language (extension of URDF that ROS uses for robot description) for quick and easy creations and configurations; and it is possible to include additional plugins to extend its functionalities.
OnOrbitROS includes different plugins to simulate the on-orbit-specific conditions (using existing standard and available ROS/Gazebo packages to develop complex tasks). Also, Gazebo integrates interfaces to use multiple physics engines such as Open Dynamics Engine, Bullet, Simbody, Dynamic Animation and Robotics Toolkit (DART).
In addition to the Ubuntu installation with its packages, it might be necessary to manually install this other packages. This is because OnOrbitROS takes advantages of the number of packages already developed in ROS to improve its functionalities.
Position Controllers: $ sudo apt-get install ros-noetic-position-controllers
"},{"location":"arquitechture/","title":"Architecture of OnOrbitROS","text":"
OnOrbitROS serves as a foundational platform for the study and development of on-orbit applications, leveraging the powerful combination of ROS and Gazebo for hyper-realistic simulations.
For extended information about this framework, its architecture and some applications go to doi.
Jos\u00e9 L. Ram\u00f3n, Jorge Pomares, Leonard Felicetti,\nTask space control for on-orbit space robotics using a new ROS-based framework,\nSimulation Modelling Practice and Theory,\nVolume 127,\n2023,\n102790,\nISSN 1569-190X,\nhttps://doi.org/10.1016/j.simpat.2023.102790\n(https://www.sciencedirect.com/science/article/pii/S1569190X23000679)\n
Here you can find the architecture of the framework. In the OnOrbitROS workspace installed (see Installation Guide for more info) you will find many pacakges, which are shown in this image.
"},{"location":"examples/","title":"Examples of Applications using OnOrbitROS","text":"
In this section you can find different examples that exploit OnOrbitROS functionalities. They can serve as a guide to develop your own application, based on this or from scratch.
"}]}
--------------------------------------------------------------------------------
/site/assets/javascripts/lunr/min/lunr.nl.min.js:
--------------------------------------------------------------------------------
1 | /*!
2 | * Lunr languages, `Dutch` language
3 | * https://github.com/MihaiValentin/lunr-languages
4 | *
5 | * Copyright 2014, Mihai Valentin
6 | * http://www.mozilla.org/MPL/
7 | */
8 | /*!
9 | * based on
10 | * Snowball JavaScript Library v0.3
11 | * http://code.google.com/p/urim/
12 | * http://snowball.tartarus.org/
13 | *
14 | * Copyright 2010, Oleg Mazko
15 | * http://www.mozilla.org/MPL/
16 | */
17 |
18 | !function(r,e){"function"==typeof define&&define.amd?define(e):"object"==typeof exports?module.exports=e():e()(r.lunr)}(this,function(){return function(r){if(void 0===r)throw new Error("Lunr is not present. Please include / require Lunr before this script.");if(void 0===r.stemmerSupport)throw new Error("Lunr stemmer support is not present. 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r=C.limit-C.cursor;C.find_among_b(g,3)&&(C.cursor=C.limit-r,C.ket=C.cursor,C.cursor>C.limit_backward&&(C.cursor--,C.bra=C.cursor,C.slice_del()))}function l(){var r;w=!1,C.ket=C.cursor,C.eq_s_b(1,"e")&&(C.bra=C.cursor,u()&&(r=C.limit-C.cursor,C.out_grouping_b(q,97,232)&&(C.cursor=C.limit-r,C.slice_del(),w=!0,a())))}function m(){var r;u()&&(r=C.limit-C.cursor,C.out_grouping_b(q,97,232)&&(C.cursor=C.limit-r,C.eq_s_b(3,"gem")||(C.cursor=C.limit-r,C.slice_del(),a())))}function f(){var r,e,i,n,o,t,s=C.limit-C.cursor;if(C.ket=C.cursor,r=C.find_among_b(h,5))switch(C.bra=C.cursor,r){case 1:u()&&C.slice_from("heid");break;case 2:m();break;case 3:u()&&C.out_grouping_b(j,97,232)&&C.slice_del()}if(C.cursor=C.limit-s,l(),C.cursor=C.limit-s,C.ket=C.cursor,C.eq_s_b(4,"heid")&&(C.bra=C.cursor,c()&&(e=C.limit-C.cursor,C.eq_s_b(1,"c")||(C.cursor=C.limit-e,C.slice_del(),C.ket=C.cursor,C.eq_s_b(2,"en")&&(C.bra=C.cursor,m())))),C.cursor=C.limit-s,C.ket=C.cursor,r=C.find_among_b(k,6))switch(C.bra=C.cursor,r){case 1:if(c()){if(C.slice_del(),i=C.limit-C.cursor,C.ket=C.cursor,C.eq_s_b(2,"ig")&&(C.bra=C.cursor,c()&&(n=C.limit-C.cursor,!C.eq_s_b(1,"e")))){C.cursor=C.limit-n,C.slice_del();break}C.cursor=C.limit-i,a()}break;case 2:c()&&(o=C.limit-C.cursor,C.eq_s_b(1,"e")||(C.cursor=C.limit-o,C.slice_del()));break;case 3:c()&&(C.slice_del(),l());break;case 4:c()&&C.slice_del();break;case 5:c()&&w&&C.slice_del()}C.cursor=C.limit-s,C.out_grouping_b(z,73,232)&&(t=C.limit-C.cursor,C.find_among_b(v,4)&&C.out_grouping_b(q,97,232)&&(C.cursor=C.limit-t,C.ket=C.cursor,C.cursor>C.limit_backward&&(C.cursor--,C.bra=C.cursor,C.slice_del())))}var d,_,w,b=[new e("",-1,6),new e("á",0,1),new e("ä",0,1),new e("é",0,2),new e("ë",0,2),new e("í",0,3),new e("ï",0,3),new e("ó",0,4),new e("ö",0,4),new e("ú",0,5),new e("ü",0,5)],p=[new e("",-1,3),new e("I",0,2),new e("Y",0,1)],g=[new e("dd",-1,-1),new e("kk",-1,-1),new e("tt",-1,-1)],h=[new e("ene",-1,2),new e("se",-1,3),new e("en",-1,2),new e("heden",2,1),new e("s",-1,3)],k=[new e("end",-1,1),new e("ig",-1,2),new e("ing",-1,1),new e("lijk",-1,3),new e("baar",-1,4),new e("bar",-1,5)],v=[new e("aa",-1,-1),new e("ee",-1,-1),new e("oo",-1,-1),new e("uu",-1,-1)],q=[17,65,16,1,0,0,0,0,0,0,0,0,0,0,0,0,128],z=[1,0,0,17,65,16,1,0,0,0,0,0,0,0,0,0,0,0,0,128],j=[17,67,16,1,0,0,0,0,0,0,0,0,0,0,0,0,128],C=new i;this.setCurrent=function(r){C.setCurrent(r)},this.getCurrent=function(){return C.getCurrent()},this.stem=function(){var e=C.cursor;return r(),C.cursor=e,o(),C.limit_backward=e,C.cursor=C.limit,f(),C.cursor=C.limit_backward,s(),!0}};return function(r){return"function"==typeof r.update?r.update(function(r){return n.setCurrent(r),n.stem(),n.getCurrent()}):(n.setCurrent(r),n.stem(),n.getCurrent())}}(),r.Pipeline.registerFunction(r.nl.stemmer,"stemmer-nl"),r.nl.stopWordFilter=r.generateStopWordFilter(" aan al alles als altijd andere ben bij daar dan dat de der deze die dit doch doen door dus een eens en er ge geen geweest haar had heb hebben heeft hem het hier hij hoe hun iemand iets ik in is ja je kan kon kunnen maar me meer men met mij mijn moet na naar niet niets nog nu of om omdat onder ons ook op over reeds te tegen toch toen tot u uit uw van veel voor want waren was wat werd wezen wie wil worden wordt zal ze zelf zich zij zijn zo zonder zou".split(" ")),r.Pipeline.registerFunction(r.nl.stopWordFilter,"stopWordFilter-nl")}});
--------------------------------------------------------------------------------
/site/assets/javascripts/lunr/min/lunr.de.min.js:
--------------------------------------------------------------------------------
1 | /*!
2 | * Lunr languages, `German` language
3 | * https://github.com/MihaiValentin/lunr-languages
4 | *
5 | * Copyright 2014, Mihai Valentin
6 | * http://www.mozilla.org/MPL/
7 | */
8 | /*!
9 | * based on
10 | * Snowball JavaScript Library v0.3
11 | * http://code.google.com/p/urim/
12 | * http://snowball.tartarus.org/
13 | *
14 | * Copyright 2010, Oleg Mazko
15 | * http://www.mozilla.org/MPL/
16 | */
17 |
18 | !function(e,r){"function"==typeof define&&define.amd?define(r):"object"==typeof exports?module.exports=r():r()(e.lunr)}(this,function(){return function(e){if(void 0===e)throw new Error("Lunr is not present. Please include / require Lunr before this script.");if(void 0===e.stemmerSupport)throw new Error("Lunr stemmer support is not present. Please include / require Lunr stemmer support before this script.");e.de=function(){this.pipeline.reset(),this.pipeline.add(e.de.trimmer,e.de.stopWordFilter,e.de.stemmer),this.searchPipeline&&(this.searchPipeline.reset(),this.searchPipeline.add(e.de.stemmer))},e.de.wordCharacters="A-Za-zªºÀ-ÖØ-öø-ʸˠ-ˤᴀ-ᴥᴬ-ᵜᵢ-ᵥᵫ-ᵷᵹ-ᶾḀ-ỿⁱⁿₐ-ₜKÅℲⅎⅠ-ↈⱠ-ⱿꜢ-ꞇꞋ-ꞭꞰ-ꞷꟷ-ꟿꬰ-ꭚꭜ-ꭤff-stＡ-Ｚａ-ｚ",e.de.trimmer=e.trimmerSupport.generateTrimmer(e.de.wordCharacters),e.Pipeline.registerFunction(e.de.trimmer,"trimmer-de"),e.de.stemmer=function(){var r=e.stemmerSupport.Among,n=e.stemmerSupport.SnowballProgram,i=new function(){function e(e,r,n){return!(!v.eq_s(1,e)||(v.ket=v.cursor,!v.in_grouping(p,97,252)))&&(v.slice_from(r),v.cursor=n,!0)}function i(){for(var r,n,i,s,t=v.cursor;;)if(r=v.cursor,v.bra=r,v.eq_s(1,"ß"))v.ket=v.cursor,v.slice_from("ss");else{if(r>=v.limit)break;v.cursor=r+1}for(v.cursor=t;;)for(n=v.cursor;;){if(i=v.cursor,v.in_grouping(p,97,252)){if(s=v.cursor,v.bra=s,e("u","U",i))break;if(v.cursor=s,e("y","Y",i))break}if(i>=v.limit)return void(v.cursor=n);v.cursor=i+1}}function s(){for(;!v.in_grouping(p,97,252);){if(v.cursor>=v.limit)return!0;v.cursor++}for(;!v.out_grouping(p,97,252);){if(v.cursor>=v.limit)return!0;v.cursor++}return!1}function t(){m=v.limit,l=m;var e=v.cursor+3;0<=e&&e<=v.limit&&(d=e,s()||(m=v.cursor,m=v.limit)return;v.cursor++}}}function c(){return m<=v.cursor}function u(){return l<=v.cursor}function a(){var e,r,n,i,s=v.limit-v.cursor;if(v.ket=v.cursor,(e=v.find_among_b(w,7))&&(v.bra=v.cursor,c()))switch(e){case 1:v.slice_del();break;case 2:v.slice_del(),v.ket=v.cursor,v.eq_s_b(1,"s")&&(v.bra=v.cursor,v.eq_s_b(3,"nis")&&v.slice_del());break;case 3:v.in_grouping_b(g,98,116)&&v.slice_del()}if(v.cursor=v.limit-s,v.ket=v.cursor,(e=v.find_among_b(f,4))&&(v.bra=v.cursor,c()))switch(e){case 1:v.slice_del();break;case 2:if(v.in_grouping_b(k,98,116)){var t=v.cursor-3;v.limit_backward<=t&&t<=v.limit&&(v.cursor=t,v.slice_del())}}if(v.cursor=v.limit-s,v.ket=v.cursor,(e=v.find_among_b(_,8))&&(v.bra=v.cursor,u()))switch(e){case 1:v.slice_del(),v.ket=v.cursor,v.eq_s_b(2,"ig")&&(v.bra=v.cursor,r=v.limit-v.cursor,v.eq_s_b(1,"e")||(v.cursor=v.limit-r,u()&&v.slice_del()));break;case 2:n=v.limit-v.cursor,v.eq_s_b(1,"e")||(v.cursor=v.limit-n,v.slice_del());break;case 3:if(v.slice_del(),v.ket=v.cursor,i=v.limit-v.cursor,!v.eq_s_b(2,"er")&&(v.cursor=v.limit-i,!v.eq_s_b(2,"en")))break;v.bra=v.cursor,c()&&v.slice_del();break;case 4:v.slice_del(),v.ket=v.cursor,e=v.find_among_b(b,2),e&&(v.bra=v.cursor,u()&&1==e&&v.slice_del())}}var d,l,m,h=[new r("",-1,6),new r("U",0,2),new r("Y",0,1),new r("ä",0,3),new r("ö",0,4),new r("ü",0,5)],w=[new r("e",-1,2),new r("em",-1,1),new r("en",-1,2),new r("ern",-1,1),new r("er",-1,1),new r("s",-1,3),new r("es",5,2)],f=[new r("en",-1,1),new r("er",-1,1),new r("st",-1,2),new r("est",2,1)],b=[new r("ig",-1,1),new r("lich",-1,1)],_=[new r("end",-1,1),new r("ig",-1,2),new r("ung",-1,1),new r("lich",-1,3),new r("isch",-1,2),new r("ik",-1,2),new r("heit",-1,3),new r("keit",-1,4)],p=[17,65,16,1,0,0,0,0,0,0,0,0,0,0,0,0,8,0,32,8],g=[117,30,5],k=[117,30,4],v=new n;this.setCurrent=function(e){v.setCurrent(e)},this.getCurrent=function(){return v.getCurrent()},this.stem=function(){var e=v.cursor;return i(),v.cursor=e,t(),v.limit_backward=e,v.cursor=v.limit,a(),v.cursor=v.limit_backward,o(),!0}};return function(e){return"function"==typeof e.update?e.update(function(e){return i.setCurrent(e),i.stem(),i.getCurrent()}):(i.setCurrent(e),i.stem(),i.getCurrent())}}(),e.Pipeline.registerFunction(e.de.stemmer,"stemmer-de"),e.de.stopWordFilter=e.generateStopWordFilter("aber alle allem allen aller alles als also am an ander andere anderem anderen anderer anderes anderm andern anderr anders auch auf aus bei bin bis bist da damit dann das dasselbe dazu daß dein deine deinem deinen deiner deines dem demselben den denn denselben der derer derselbe derselben des desselben dessen dich die dies diese dieselbe dieselben diesem diesen dieser dieses dir doch dort du durch ein eine einem einen einer eines einig einige einigem einigen einiger einiges einmal er es etwas euch euer eure eurem euren eurer eures für gegen gewesen hab habe haben hat hatte hatten hier hin hinter ich ihm ihn ihnen ihr ihre ihrem ihren ihrer ihres im in indem ins ist jede jedem jeden jeder jedes jene jenem jenen jener jenes jetzt kann kein keine keinem keinen keiner keines können könnte machen man manche manchem manchen mancher manches mein meine meinem meinen meiner meines mich mir mit muss musste nach nicht nichts noch nun nur ob oder ohne sehr sein seine seinem seinen seiner seines selbst sich sie sind so solche solchem solchen solcher solches soll sollte sondern sonst um und uns unse unsem unsen unser unses unter viel vom von vor war waren warst was weg weil weiter welche welchem welchen welcher welches wenn werde werden wie wieder will wir wird wirst wo wollen wollte während würde würden zu zum zur zwar zwischen über".split(" ")),e.Pipeline.registerFunction(e.de.stopWordFilter,"stopWordFilter-de")}});
--------------------------------------------------------------------------------
/site/assets/javascripts/lunr/min/lunr.du.min.js:
--------------------------------------------------------------------------------
1 | /*!
2 | * Lunr languages, `Dutch` language
3 | * https://github.com/MihaiValentin/lunr-languages
4 | *
5 | * Copyright 2014, Mihai Valentin
6 | * http://www.mozilla.org/MPL/
7 | */
8 | /*!
9 | * based on
10 | * Snowball JavaScript Library v0.3
11 | * http://code.google.com/p/urim/
12 | * http://snowball.tartarus.org/
13 | *
14 | * Copyright 2010, Oleg Mazko
15 | * http://www.mozilla.org/MPL/
16 | */
17 |
18 | !function(e,r){"function"==typeof define&&define.amd?define(r):"object"==typeof exports?module.exports=r():r()(e.lunr)}(this,function(){return function(e){if(void 0===e)throw new Error("Lunr is not present. Please include / require Lunr before this script.");if(void 0===e.stemmerSupport)throw new Error("Lunr stemmer support is not present. Please include / require Lunr stemmer support before this script.");console.warn('[Lunr Languages] Please use the "nl" instead of the "du". 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r("",-1,6),new r("á",0,1),new r("ä",0,1),new r("é",0,2),new r("ë",0,2),new r("í",0,3),new r("ï",0,3),new r("ó",0,4),new r("ö",0,4),new r("ú",0,5),new r("ü",0,5)],p=[new r("",-1,3),new r("I",0,2),new r("Y",0,1)],g=[new r("dd",-1,-1),new r("kk",-1,-1),new r("tt",-1,-1)],h=[new r("ene",-1,2),new r("se",-1,3),new r("en",-1,2),new r("heden",2,1),new r("s",-1,3)],k=[new r("end",-1,1),new r("ig",-1,2),new r("ing",-1,1),new r("lijk",-1,3),new r("baar",-1,4),new r("bar",-1,5)],v=[new r("aa",-1,-1),new r("ee",-1,-1),new r("oo",-1,-1),new r("uu",-1,-1)],q=[17,65,16,1,0,0,0,0,0,0,0,0,0,0,0,0,128],j=[1,0,0,17,65,16,1,0,0,0,0,0,0,0,0,0,0,0,0,128],z=[17,67,16,1,0,0,0,0,0,0,0,0,0,0,0,0,128],C=new i;this.setCurrent=function(e){C.setCurrent(e)},this.getCurrent=function(){return C.getCurrent()},this.stem=function(){var r=C.cursor;return e(),C.cursor=r,o(),C.limit_backward=r,C.cursor=C.limit,d(),C.cursor=C.limit_backward,s(),!0}};return function(e){return"function"==typeof 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--------------------------------------------------------------------------------
/orbit_publisher_pkg/src/orbit_publisher_pkg_node.cpp:
--------------------------------------------------------------------------------
1 | /*** Orbit Publisher Node ***/
2 | /*
3 | Reads the information of the orbit defined in the .yaml file.
4 | Publishes the information needed for the simulation, as the position, velocity, air density and more.
5 | Here is the LVLH information in reference to the ECI's frame.
6 |
7 | The .yaml file is loaded in this package's .launch (basic.launch) as follows:
8 |
9 |
10 |
11 |
12 |
13 |
14 |
15 | In case more information is needed from the other plugins it should be published from this script.
16 | If additional (new) information is needed must be defined in "Orbit.h", declared in ".yaml", read by "Orbit.cpp" and published here.
17 |
18 | Node personalized for the simulation of the orbits.
19 |
20 | Developed by: Human Robotics Laboratoy (University of Alicante)
21 | https://www.huro.ua.es/index.php/research/research-lines/space-robotics
22 | */
23 |
24 | #include "ros/ros.h"
25 | #include "std_msgs/String.h"
26 | #include "std_msgs/Float64.h"
27 | #include "geometry_msgs/Pose.h"
28 | #include "geometry_msgs/Vector3.h"
29 | #include "orbit_publisher_pkg/Orbit.h"
30 |
31 | #include "rosgraph_msgs/Clock.h"
32 | #include
33 |
34 | double gazebo_sim_time = 0.0; // Gazebo simulation time
35 |
36 | // Callback function for the /clock topic
37 | void clockCallback(const rosgraph_msgs::Clock::ConstPtr& msg) {
38 | gazebo_sim_time = msg->clock.toSec();
39 | }
40 |
41 | int main(int argc, char **argv)
42 | {
43 | int rate;
44 | ros::init(argc, argv, "OrbitPositionPublisher"); // Published the orbital information required for the simulation
45 | ros::NodeHandle n;
46 | std::string node_name = ros::this_node::getNamespace();
47 | // ros::Publisher orbit_position_pub = n.advertise("/"+ node_name +"/OrbitPosition", 1000);
48 | // ros::Publisher orbit_velocity_pub = n.advertise("/" + node_name +"/OrbitVelocity", 1000);
49 | ros::Publisher orbit_position_pub = n.advertise("/OrbitPosition", 1000);
50 | ros::Publisher orbit_velocity_pub = n.advertise("/OrbitVelocity", 1000);
51 | ros::Publisher orbit_altitude_pub = n.advertise("/OrbitAltitude", 1000);
52 |
53 | // Orbit parameters
54 | ros::Publisher orbit_sim_ecc_pub = n.advertise("/OrbitEccentricity", 1000);
55 | ros::Publisher orbit_sim_sa_pub = n.advertise("/OrbitSemiMajorAxis", 1000);
56 | ros::Publisher orbit_sim_incl_pub = n.advertise("/OrbitInclination", 1000);
57 | ros::Publisher orbit_sim_raan_pub = n.advertise("/OrbitRAAN", 1000);
58 | ros::Publisher orbit_sim_aop_pub = n.advertise("/OrbitArgumentOfPerigee", 1000);
59 | ros::Publisher orbit_sim_ta_pub = n.advertise("/OrbitTrueAnomaly", 1000);
60 | ros::Publisher orbit_sim_period_pub = n.advertise("/OrbitPeriod", 1000);
61 |
62 | ros::Subscriber clock_sub = n.subscribe("/clock", 10, clockCallback);
63 |
64 | if (!n.getParam("/" + node_name + "/publish_rate",rate))
65 | {
66 | rate = 10;
67 | }
68 | ros::Rate loop_rate(rate);
69 |
70 | Orbit orbital(n, node_name); // Create the orbit
71 | orbital.SetName(node_name);
72 | Eigen::Quaternion q;
73 | geometry_msgs::Pose pos;
74 | geometry_msgs::Vector3 vel;
75 | std_msgs::Float64 altitude;
76 |
77 | // Other orbit parameters
78 | std_msgs::Float64 sim_ecc;
79 | std_msgs::Float64 sim_sa;
80 | std_msgs::Float64 sim_incl;
81 | std_msgs::Float64 sim_raan;
82 | std_msgs::Float64 sim_aop;
83 | std_msgs::Float64 sim_ta;
84 | std_msgs::Float64 sim_period;
85 | bool publish_orbit_parameters; // Publish or not the keplerian orbital values
86 | if (!n.getParam("/" + node_name + "/orbit/publish_orbit_parameters", publish_orbit_parameters))
87 | {
88 | publish_orbit_parameters = true;
89 | }
90 |
91 | /* +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ */
92 | while (ros::ok())
93 | {
94 | // *** Continous publish *** //
95 | orbital.KeplerianToEci(gazebo_sim_time);
96 | q = orbital.GetLvLhRotationToEci();
97 |
98 | // Pose
99 | pos.position.x = orbital.GetPositionEciX();
100 | pos.position.y = orbital.GetPositionEciY();
101 | pos.position.z = orbital.GetPositionEciZ();
102 | pos.orientation.w = q.w();
103 | pos.orientation.x = q.x();
104 | pos.orientation.y = q.y();
105 | pos.orientation.z = q.z();
106 | orbit_position_pub.publish(pos);
107 |
108 | // Velocity
109 | vel.x = orbital.GetVelocityEciX();
110 | vel.y = orbital.GetVelocityEciY();
111 | vel.z = orbital.GetVelocityEciZ();
112 | orbit_velocity_pub.publish(vel);
113 |
114 | // Altitude
115 | altitude.data = orbital.CalcAltitude(gazebo_sim_time);
116 | orbit_altitude_pub.publish(altitude);
117 |
118 | // Keplerian Orbit Elements
119 | if( publish_orbit_parameters ){
120 | orbital.CalcOrbitParamsFromSV(gazebo_sim_time);
121 | sim_ecc.data = orbital.GetSimEccentricity();
122 | orbit_sim_ecc_pub.publish(sim_ecc);
123 | sim_sa.data = orbital.GetSimSemiMajorAxis();
124 | orbit_sim_sa_pub.publish(sim_sa);
125 | sim_incl.data = orbital.GetSimInclination();
126 | orbit_sim_incl_pub.publish(sim_incl);
127 | sim_raan.data = orbital.GetSimRateOfRightAscension();
128 | orbit_sim_raan_pub.publish(sim_raan);
129 | sim_aop.data = orbital.GetSimArgumentOfPerigee();
130 | orbit_sim_aop_pub.publish(sim_aop);
131 | sim_ta.data = orbital.GetSimTrueAnomaly();
132 | orbit_sim_ta_pub.publish(sim_ta);
133 | sim_period.data = orbital.GetSimPeriod();
134 | orbit_sim_period_pub.publish(sim_period);
135 | }
136 |
137 | // *** Publish only once *** /
138 | // if( gazebo_sim_time < 2 ){ // publish until x simulation seconds
139 |
140 | // }
141 |
142 | ros::spinOnce();
143 | loop_rate.sleep();
144 | }
145 | return 0;
146 | }
--------------------------------------------------------------------------------
/ets_vii/rviz/config.rviz:
--------------------------------------------------------------------------------
1 | Panels:
2 | - Class: rviz/Displays
3 | Help Height: 78
4 | Name: Displays
5 | Property Tree Widget:
6 | Expanded:
7 | - /Global Options1
8 | - /Status1
9 | - /Axes1
10 | - /RobotModel1
11 | - /RobotModel1/Joints1
12 | - /RobotModel1/Joints1/joint11
13 | - /RobotModel1/Joints1/joint21
14 | - /RobotModel1/Joints1/joint31
15 | - /RobotModel1/Joints1/joint41
16 | - /RobotModel1/Joints1/joint51
17 | - /RobotModel1/Joints1/joint61
18 | - /RobotModel1/Joints1/union_flange_joint1
19 | Splitter Ratio: 0.5
20 | Tree Height: 1799
21 | - Class: rviz/Selection
22 | Name: Selection
23 | - Class: rviz/Tool Properties
24 | Expanded:
25 | - /2D Pose Estimate1
26 | - /2D Nav Goal1
27 | - /Publish Point1
28 | Name: Tool Properties
29 | Splitter Ratio: 0.5886790156364441
30 | - Class: rviz/Views
31 | Expanded:
32 | - /Current View1
33 | Name: Views
34 | Splitter Ratio: 0.5
35 | - Class: rviz/Time
36 | Experimental: false
37 | Name: Time
38 | SyncMode: 0
39 | SyncSource: ""
40 | Preferences:
41 | PromptSaveOnExit: true
42 | Toolbars:
43 | toolButtonStyle: 2
44 | Visualization Manager:
45 | Class: ""
46 | Displays:
47 | - Alpha: 0.5
48 | Cell Size: 1
49 | Class: rviz/Grid
50 | Color: 160; 160; 164
51 | Enabled: true
52 | Line Style:
53 | Line Width: 0.029999999329447746
54 | Value: Lines
55 | Name: Grid
56 | Normal Cell Count: 0
57 | Offset:
58 | X: 0
59 | Y: 0
60 | Z: 0
61 | Plane: XY
62 | Plane Cell Count: 10
63 | Reference Frame:
64 | Value: true
65 | - Alpha: 1
66 | Class: rviz/Axes
67 | Enabled: true
68 | Length: 4
69 | Name: Axes
70 | Radius: 0.009999999776482582
71 | Reference Frame:
72 | Value: true
73 | - Alpha: 0.5
74 | Class: rviz/RobotModel
75 | Collision Enabled: false
76 | Enabled: true
77 | Joints:
78 | All Links Enabled: true
79 | Expand Joint Details: false
80 | Expand Link Details: false
81 | Expand Tree: false
82 | Link Tree Style: Joints in Alphabetic Order
83 | joint1:
84 | Show Axes: true
85 | Show Joint Axis: false
86 | Value: true
87 | joint2:
88 | Show Axes: true
89 | Show Joint Axis: false
90 | Value: true
91 | joint3:
92 | Show Axes: true
93 | Show Joint Axis: false
94 | Value: true
95 | joint4:
96 | Show Axes: true
97 | Show Joint Axis: false
98 | Value: true
99 | joint5:
100 | Show Axes: true
101 | Show Joint Axis: false
102 | Value: true
103 | joint6:
104 | Show Axes: true
105 | Show Joint Axis: false
106 | Value: true
107 | union_flange_joint:
108 | Show Axes: true
109 | Value: true
110 | Name: RobotModel
111 | Robot Description: robot_description
112 | TF Prefix: ""
113 | Update Interval: 0
114 | Value: true
115 | Visual Enabled: true
116 | Enabled: true
117 | Global Options:
118 | Background Color: 48; 48; 48
119 | Default Light: true
120 | Fixed Frame: base_link
121 | Frame Rate: 30
122 | Name: root
123 | Tools:
124 | - Class: rviz/Interact
125 | Hide Inactive Objects: true
126 | - Class: rviz/MoveCamera
127 | - Class: rviz/Select
128 | - Class: rviz/FocusCamera
129 | - Class: rviz/Measure
130 | - Class: rviz/SetInitialPose
131 | Theta std deviation: 0.2617993950843811
132 | Topic: /initialpose
133 | X std deviation: 0.5
134 | Y std deviation: 0.5
135 | - Class: rviz/SetGoal
136 | Topic: /move_base_simple/goal
137 | - Class: rviz/PublishPoint
138 | Single click: true
139 | Topic: /clicked_point
140 | Value: true
141 | Views:
142 | Current:
143 | Class: rviz/Orbit
144 | Distance: 10
145 | Enable Stereo Rendering:
146 | Stereo Eye Separation: 0.05999999865889549
147 | Stereo Focal Distance: 1
148 | Swap Stereo Eyes: false
149 | Value: false
150 | Field of View: 0.7853981852531433
151 | Focal Point:
152 | X: 0
153 | Y: 0
154 | Z: 0
155 | Focal Shape Fixed Size: true
156 | Focal Shape Size: 0.05000000074505806
157 | Invert Z Axis: false
158 | Name: Current View
159 | Near Clip Distance: 0.009999999776482582
160 | Pitch: 0.36039841175079346
161 | Target Frame:
162 | Yaw: 5.613566875457764
163 | Saved: ~
164 | Window Geometry:
165 | Displays:
166 | collapsed: false
167 | Height: 2096
168 | Hide Left Dock: false
169 | Hide Right Dock: false
170 | QMainWindow State: 000000ff00000000fd0000000400000000000002d800000792fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000792000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000792fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d00000792000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e1000001970000000300000eb80000003efc0100000002fb0000000800540069006d0065010000000000000eb8000002eb00fffffffb0000000800540069006d0065010000000000000450000000000000000000000ac50000079200000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
171 | Selection:
172 | collapsed: false
173 | Time:
174 | collapsed: false
175 | Tool Properties:
176 | collapsed: false
177 | Views:
178 | collapsed: false
179 | Width: 3768
180 | X: 72
181 | Y: 27
182 |
--------------------------------------------------------------------------------
/site/assets/javascripts/lunr/min/lunr.ru.min.js:
--------------------------------------------------------------------------------
1 | /*!
2 | * Lunr languages, `Russian` language
3 | * https://github.com/MihaiValentin/lunr-languages
4 | *
5 | * Copyright 2014, Mihai Valentin
6 | * http://www.mozilla.org/MPL/
7 | */
8 | /*!
9 | * based on
10 | * Snowball JavaScript Library v0.3
11 | * http://code.google.com/p/urim/
12 | * http://snowball.tartarus.org/
13 | *
14 | * Copyright 2010, Oleg Mazko
15 | * http://www.mozilla.org/MPL/
16 | */
17 |
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5 | #include
6 | #include
7 | #include
8 | #include "ros/ros.h"
9 |
10 |
11 |
12 | class Orbit
13 | {
14 | public:
15 | Orbit();
16 | Orbit(ros::NodeHandle nh, std::string n);
17 | virtual ~Orbit();
18 |
19 | //Getters
20 | std::string GetName() { return name; }
21 | double GetEccentricity() { return eccentricity; }
22 | double GetSemiMajorAxis() {return semi_major_axis; }
23 | double GetInclination() {return inclination; }
24 | double GetRateOfRightAscension() { return rate_of_right_ascension; }
25 | double GetRightAscensionIni(){return right_ascension_ini; }
26 | double GetArgumentOfPerigeeIni() {return argument_of_perigee_ini; }
27 | double GetRateArgumentOfPerigee() {return rate_argument_of_perigee; }
28 | double GetMeanAnomalyIni() { return mean_anomaly_ini; }
29 | time_t GetTimePassPerigee() {return time_pass_perigee; }
30 | Eigen::Matrix GetPositionEciIni() { return position_eci_ini ; }
31 | Eigen::Matrix GetVelocityEciIni() { return velocity_eci_ini; }
32 | Eigen::Matrix GetLvLhRotationToEciIni() { return lvlh_rotation_to_eci_ini; }
33 | Eigen::Matrix GetPositionEci() { return position_eci; }
34 | Eigen::Matrix GetVelEph() { return vel_eph; };
35 | double GetPositionEciX() { return position_eci(0); }
36 | double GetPositionEciY() { return position_eci(1); }
37 | double GetPositionEciZ() { return position_eci(2); }
38 | Eigen::Matrix GetVelocityEci() { return velocity_eci; }
39 | double GetVelocityEciX(){ return velocity_eci(0); }
40 | double GetVelocityEciY(){ return velocity_eci(1); }
41 | double GetVelocityEciZ(){ return velocity_eci(2); }
42 | Eigen::Matrix GetLvLhRotationToEci() { return lvlh_rotation_to_eci; }
43 | double GetAngularVelocity() { return angular_velocity; }
44 | double GetPeriod(){ return period; }
45 | double GetMeanMotion(){return mean_motion; }
46 | double GetEccentricAnomaly(){return eccentric_anomaly; }
47 | double GetAltitude(){return altitude; }
48 |
49 | double GetSimEccentricity() {return sim_eccentricity;} // Get Orbit Parameters
50 | double GetSimSemiMajorAxis() {return sim_semi_major_axis; }
51 | double GetSimInclination() {return sim_inclination; }
52 | double GetSimRateOfRightAscension() { return sim_right_ascension_node; }
53 | double GetSimArgumentOfPerigee() { return sim_argument_of_perigee; }
54 | double GetSimTrueAnomaly() { return sim_true_anomaly; }
55 | double GetSimPeriod() { return sim_period; }
56 |
57 | //Setters
58 | void SetName(std::string val) { name = val; }
59 | void SetEccentricity(double val) { eccentricity = val; }
60 | void SetSemiMajorAxis (double val) { semi_major_axis = val; }
61 | void SetInclination ( double val ) { inclination = val; }
62 | void SetRateOfRightAscension (double val) { rate_of_right_ascension = val; }
63 | void SetRightAscensionIni (double val) { right_ascension_ini = val; }
64 | void SetArgumentOfPerigeeIni (double val) { argument_of_perigee_ini = val; }
65 | void SetRateArgumentOfPerigee (double val) { rate_argument_of_perigee = val; }
66 | void SetMeanAnomalyIni (double val) { mean_anomaly_ini = val; }
67 | void SetTimePassPerigee (time_t val) { time_pass_perigee = val; }
68 | void SetPosEciIni (Eigen::Matrix val ) {position_eci_ini = val; }
69 | void SetValEciIni (Eigen::Matrix val) { velocity_eci_ini = val; }
70 | void SetLvLhRotationToEciIni (Eigen::Matrix val) { lvlh_rotation_to_eci_ini = val; }
71 | void SetPosEci (Eigen::Matrix val) { position_eci = val; }
72 | void SetValEci (Eigen::Matrix val) { velocity_eci = val; }
73 | void SetLvLhRrEci (Eigen::Matrix val) { lvlh_rotation_to_eci = val; }
74 | void SetAngularVelocity (double val) { angular_velocity = val; }
75 | void SetPeriod ( double val) {period = val; }
76 | void SetMeanMotion(double val) {mean_motion = val;}
77 | void SetEccentricAnomaly(double val) {eccentric_anomaly = val;}
78 |
79 | void SetSimEccentricity(double val) { sim_eccentricity = val;} // Set Orbit Parameters
80 | void SetSimSemiMajorAxis(double val) { sim_semi_major_axis = val; }
81 | void SetSimInclination(double val) { sim_inclination = val; }
82 | void SetSimRateOfRightAscension(double val) { sim_right_ascension_node = val; }
83 | void SetSimArgumentOfPerigee(double val) { sim_argument_of_perigee = val; }
84 | void SetSimTrueAnomaly(double val) { sim_true_anomaly = val; }
85 | void SetSimPeriod(double val) { sim_period = val; }
86 |
87 | //Const
88 | const double kMUe = 398600.5; //Earth's gravitational constant (Km^3/s^2)
89 | const double kRe = 6378; // Earth radius (Km)
90 | const double kOMe = 2.0 * M_PI / (3600.0 * 24.0) ; // Earth's rate (rad/sec)
91 | const double kJ2 = 1.082e-3;
92 | const double kg0 = 9.81 ; // m/s
93 |
94 | //Functions
95 | void KeplerianToEci(double time );
96 | double CalcAltitude(double time);
97 | void CalcOrbitParamsFromSV(double time);
98 |
99 |
100 | private:
101 | std::string name;
102 | double eccentricity;
103 | double semi_major_axis;
104 | double inclination;
105 | double rate_of_right_ascension;
106 | double right_ascension_ini;
107 | double argument_of_perigee_ini;
108 | double rate_argument_of_perigee;
109 | double mean_anomaly_ini;
110 | time_t time_pass_perigee;
111 | double s_from_perigee_to_simulation;
112 | double angular_velocity;
113 | double period;
114 | double mean_motion;
115 | double eccentric_anomaly;
116 | double mu_divided_h;
117 | double altitude;
118 |
119 | double sim_eccentricity;
120 | double sim_semi_major_axis;
121 | double sim_inclination;
122 | double sim_right_ascension_node;
123 | double sim_angular_momentum;
124 | double sim_argument_of_perigee;
125 | double sim_true_anomaly;
126 | double sim_period;
127 |
128 | Eigen::Matrix position_eci_ini;
129 | Eigen::Matrix velocity_eci_ini;
130 | Eigen::Matrix lvlh_rotation_to_eci_ini;
131 | Eigen::Matrix position_eci;
132 | Eigen::Matrix velocity_eci;
133 | Eigen::Matrix lvlh_rotation_to_eci;
134 | Eigen::Matrix vel_eph;
135 | Eigen::Matrix ephemeris_rotation_plane;
136 | Eigen::Matrix velocity_plane;
137 | Eigen::Matrix plane_rotation_to_eci;
138 | Eigen::Matrix right_ascension_rotation;
139 | Eigen::Matrix inclination_rotation;
140 | Eigen::Matrix true_anomaly_rotation;
141 |
142 | double CalcEccenAnom(double eccentricity, double MeanAnomaly);
143 | double KeplerStart(double e, double M);
144 | double ThirdOrderApproximation(double e, double M, double x);
145 | void J2Effect();
146 | };
147 |
148 | #endif // ORBIT_H
149 |
--------------------------------------------------------------------------------
/ets_vii/CMakeLists.txt:
--------------------------------------------------------------------------------
1 | cmake_minimum_required(VERSION 3.0.2)
2 | project(ets_vii)
3 |
4 | ## Compile as C++11, supported in ROS Kinetic and newer
5 | # add_compile_options(-std=c++11)
6 |
7 | ## Find catkin macros and libraries
8 | ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
9 | ## is used, also find other catkin packages
10 | find_package(catkin REQUIRED COMPONENTS
11 | urdf
12 | )
13 |
14 | ## System dependencies are found with CMake's conventions
15 | # find_package(Boost REQUIRED COMPONENTS system)
16 |
17 |
18 | ## Uncomment this if the package has a setup.py. This macro ensures
19 | ## modules and global scripts declared therein get installed
20 | ## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
21 | # catkin_python_setup()
22 |
23 | ################################################
24 | ## Declare ROS messages, services and actions ##
25 | ################################################
26 |
27 | ## To declare and build messages, services or actions from within this
28 | ## package, follow these steps:
29 | ## * Let MSG_DEP_SET be the set of packages whose message types you use in
30 | ## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
31 | ## * In the file package.xml:
32 | ## * add a build_depend tag for "message_generation"
33 | ## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
34 | ## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
35 | ## but can be declared for certainty nonetheless:
36 | ## * add a exec_depend tag for "message_runtime"
37 | ## * In this file (CMakeLists.txt):
38 | ## * add "message_generation" and every package in MSG_DEP_SET to
39 | ## find_package(catkin REQUIRED COMPONENTS ...)
40 | ## * add "message_runtime" and every package in MSG_DEP_SET to
41 | ## catkin_package(CATKIN_DEPENDS ...)
42 | ## * uncomment the add_*_files sections below as needed
43 | ## and list every .msg/.srv/.action file to be processed
44 | ## * uncomment the generate_messages entry below
45 | ## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
46 |
47 | ## Generate messages in the 'msg' folder
48 | # add_message_files(
49 | # FILES
50 | # Message1.msg
51 | # Message2.msg
52 | # )
53 |
54 | ## Generate services in the 'srv' folder
55 | # add_service_files(
56 | # FILES
57 | # Service1.srv
58 | # Service2.srv
59 | # )
60 |
61 | ## Generate actions in the 'action' folder
62 | # add_action_files(
63 | # FILES
64 | # Action1.action
65 | # Action2.action
66 | # )
67 |
68 | ## Generate added messages and services with any dependencies listed here
69 | # generate_messages(
70 | # DEPENDENCIES
71 | # std_msgs # Or other packages containing msgs
72 | # )
73 |
74 | ################################################
75 | ## Declare ROS dynamic reconfigure parameters ##
76 | ################################################
77 |
78 | ## To declare and build dynamic reconfigure parameters within this
79 | ## package, follow these steps:
80 | ## * In the file package.xml:
81 | ## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
82 | ## * In this file (CMakeLists.txt):
83 | ## * add "dynamic_reconfigure" to
84 | ## find_package(catkin REQUIRED COMPONENTS ...)
85 | ## * uncomment the "generate_dynamic_reconfigure_options" section below
86 | ## and list every .cfg file to be processed
87 |
88 | ## Generate dynamic reconfigure parameters in the 'cfg' folder
89 | # generate_dynamic_reconfigure_options(
90 | # cfg/DynReconf1.cfg
91 | # cfg/DynReconf2.cfg
92 | # )
93 |
94 | ###################################
95 | ## catkin specific configuration ##
96 | ###################################
97 | ## The catkin_package macro generates cmake config files for your package
98 | ## Declare things to be passed to dependent projects
99 | ## INCLUDE_DIRS: uncomment this if your package contains header files
100 | ## LIBRARIES: libraries you create in this project that dependent projects also need
101 | ## CATKIN_DEPENDS: catkin_packages dependent projects also need
102 | ## DEPENDS: system dependencies of this project that dependent projects also need
103 | catkin_package(
104 | # INCLUDE_DIRS include
105 | # LIBRARIES ets_vii
106 | # CATKIN_DEPENDS urdf
107 | # DEPENDS system_lib
108 | )
109 |
110 | ###########
111 | ## Build ##
112 | ###########
113 |
114 | ## Specify additional locations of header files
115 | ## Your package locations should be listed before other locations
116 | include_directories(
117 | # include
118 | ${catkin_INCLUDE_DIRS}
119 | )
120 |
121 | ## Declare a C++ library
122 | # add_library(${PROJECT_NAME}
123 | # src/${PROJECT_NAME}/ets_vii.cpp
124 | # )
125 |
126 | ## Add cmake target dependencies of the library
127 | ## as an example, code may need to be generated before libraries
128 | ## either from message generation or dynamic reconfigure
129 | # add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
130 |
131 | ## Declare a C++ executable
132 | ## With catkin_make all packages are built within a single CMake context
133 | ## The recommended prefix ensures that target names across packages don't collide
134 | # add_executable(${PROJECT_NAME}_node src/ets_vii_node.cpp)
135 |
136 | ## Rename C++ executable without prefix
137 | ## The above recommended prefix causes long target names, the following renames the
138 | ## target back to the shorter version for ease of user use
139 | ## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
140 | # set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
141 |
142 | ## Add cmake target dependencies of the executable
143 | ## same as for the library above
144 | # add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
145 |
146 | ## Specify libraries to link a library or executable target against
147 | # target_link_libraries(${PROJECT_NAME}_node
148 | # ${catkin_LIBRARIES}
149 | # )
150 |
151 | #############
152 | ## Install ##
153 | #############
154 |
155 | # all install targets should use catkin DESTINATION variables
156 | # See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
157 |
158 | ## Mark executable scripts (Python etc.) for installation
159 | ## in contrast to setup.py, you can choose the destination
160 | # catkin_install_python(PROGRAMS
161 | # scripts/my_python_script
162 | # DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
163 | # )
164 |
165 | ## Mark executables for installation
166 | ## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
167 | # install(TARGETS ${PROJECT_NAME}_node
168 | # RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
169 | # )
170 |
171 | ## Mark libraries for installation
172 | ## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
173 | # install(TARGETS ${PROJECT_NAME}
174 | # ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
175 | # LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
176 | # RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
177 | # )
178 |
179 | ## Mark cpp header files for installation
180 | # install(DIRECTORY include/${PROJECT_NAME}/
181 | # DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
182 | # FILES_MATCHING PATTERN "*.h"
183 | # PATTERN ".svn" EXCLUDE
184 | # )
185 |
186 | ## Mark other files for installation (e.g. launch and bag files, etc.)
187 | # install(FILES
188 | # # myfile1
189 | # # myfile2
190 | # DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
191 | # )
192 |
193 | #############
194 | ## Testing ##
195 | #############
196 |
197 | ## Add gtest based cpp test target and link libraries
198 | # catkin_add_gtest(${PROJECT_NAME}-test test/test_ets_vii.cpp)
199 | # if(TARGET ${PROJECT_NAME}-test)
200 | # target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
201 | # endif()
202 |
203 | ## Add folders to be run by python nosetests
204 | # catkin_add_nosetests(test)
205 |
--------------------------------------------------------------------------------
/axis_by_axis/CMakeLists.txt:
--------------------------------------------------------------------------------
1 | cmake_minimum_required(VERSION 3.0.2)
2 | project(axis_by_axis)
3 |
4 | ## Compile as C++11, supported in ROS Kinetic and newer
5 | # add_compile_options(-std=c++11)
6 |
7 | ## Find catkin macros and libraries
8 | ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
9 | ## is used, also find other catkin packages
10 | find_package(catkin REQUIRED COMPONENTS
11 | roscpp
12 | rospy
13 | std_msgs
14 | )
15 |
16 | ## System dependencies are found with CMake's conventions
17 | # find_package(Boost REQUIRED COMPONENTS system)
18 |
19 |
20 | ## Uncomment this if the package has a setup.py. This macro ensures
21 | ## modules and global scripts declared therein get installed
22 | ## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
23 | # catkin_python_setup()
24 |
25 | ################################################
26 | ## Declare ROS messages, services and actions ##
27 | ################################################
28 |
29 | ## To declare and build messages, services or actions from within this
30 | ## package, follow these steps:
31 | ## * Let MSG_DEP_SET be the set of packages whose message types you use in
32 | ## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
33 | ## * In the file package.xml:
34 | ## * add a build_depend tag for "message_generation"
35 | ## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
36 | ## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
37 | ## but can be declared for certainty nonetheless:
38 | ## * add a exec_depend tag for "message_runtime"
39 | ## * In this file (CMakeLists.txt):
40 | ## * add "message_generation" and every package in MSG_DEP_SET to
41 | ## find_package(catkin REQUIRED COMPONENTS ...)
42 | ## * add "message_runtime" and every package in MSG_DEP_SET to
43 | ## catkin_package(CATKIN_DEPENDS ...)
44 | ## * uncomment the add_*_files sections below as needed
45 | ## and list every .msg/.srv/.action file to be processed
46 | ## * uncomment the generate_messages entry below
47 | ## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
48 |
49 | ## Generate messages in the 'msg' folder
50 | # add_message_files(
51 | # FILES
52 | # Message1.msg
53 | # Message2.msg
54 | # )
55 |
56 | ## Generate services in the 'srv' folder
57 | # add_service_files(
58 | # FILES
59 | # Service1.srv
60 | # Service2.srv
61 | # )
62 |
63 | ## Generate actions in the 'action' folder
64 | # add_action_files(
65 | # FILES
66 | # Action1.action
67 | # Action2.action
68 | # )
69 |
70 | ## Generate added messages and services with any dependencies listed here
71 | # generate_messages(
72 | # DEPENDENCIES
73 | # std_msgs
74 | # )
75 |
76 | ################################################
77 | ## Declare ROS dynamic reconfigure parameters ##
78 | ################################################
79 |
80 | ## To declare and build dynamic reconfigure parameters within this
81 | ## package, follow these steps:
82 | ## * In the file package.xml:
83 | ## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
84 | ## * In this file (CMakeLists.txt):
85 | ## * add "dynamic_reconfigure" to
86 | ## find_package(catkin REQUIRED COMPONENTS ...)
87 | ## * uncomment the "generate_dynamic_reconfigure_options" section below
88 | ## and list every .cfg file to be processed
89 |
90 | ## Generate dynamic reconfigure parameters in the 'cfg' folder
91 | # generate_dynamic_reconfigure_options(
92 | # cfg/DynReconf1.cfg
93 | # cfg/DynReconf2.cfg
94 | # )
95 |
96 | ###################################
97 | ## catkin specific configuration ##
98 | ###################################
99 | ## The catkin_package macro generates cmake config files for your package
100 | ## Declare things to be passed to dependent projects
101 | ## INCLUDE_DIRS: uncomment this if your package contains header files
102 | ## LIBRARIES: libraries you create in this project that dependent projects also need
103 | ## CATKIN_DEPENDS: catkin_packages dependent projects also need
104 | ## DEPENDS: system dependencies of this project that dependent projects also need
105 | catkin_package(
106 | # INCLUDE_DIRS include
107 | # LIBRARIES axis_by_axis
108 | # CATKIN_DEPENDS roscpp rospy std_msgs
109 | # DEPENDS system_lib
110 | )
111 |
112 | ###########
113 | ## Build ##
114 | ###########
115 |
116 | ## Specify additional locations of header files
117 | ## Your package locations should be listed before other locations
118 | include_directories(
119 | # include
120 | ${catkin_INCLUDE_DIRS}
121 | )
122 |
123 | ## Declare a C++ library
124 | # add_library(${PROJECT_NAME}
125 | # src/${PROJECT_NAME}/axis_by_axis.cpp
126 | # )
127 |
128 | ## Add cmake target dependencies of the library
129 | ## as an example, code may need to be generated before libraries
130 | ## either from message generation or dynamic reconfigure
131 | # add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
132 |
133 | ## Declare a C++ executable
134 | ## With catkin_make all packages are built within a single CMake context
135 | ## The recommended prefix ensures that target names across packages don't collide
136 | add_executable(${PROJECT_NAME}_node src/trajectory.cpp)
137 |
138 |
139 | ## Rename C++ executable without prefix
140 | ## The above recommended prefix causes long target names, the following renames the
141 | ## target back to the shorter version for ease of user use
142 | ## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
143 | # set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
144 |
145 | ## Add cmake target dependencies of the executable
146 | ## same as for the library above
147 | add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
148 |
149 | ## Specify libraries to link a library or executable target against
150 | target_link_libraries(${PROJECT_NAME}_node
151 | ${catkin_LIBRARIES}
152 | )
153 |
154 | #############
155 | ## Install ##
156 | #############
157 |
158 | # all install targets should use catkin DESTINATION variables
159 | # See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
160 |
161 | ## Mark executable scripts (Python etc.) for installation
162 | ## in contrast to setup.py, you can choose the destination
163 | # catkin_install_python(PROGRAMS
164 | # scripts/my_python_script
165 | # DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
166 | # )
167 |
168 | ## Mark executables for installation
169 | ## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
170 | # install(TARGETS ${PROJECT_NAME}_node
171 | # RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
172 | # )
173 |
174 | ## Mark libraries for installation
175 | ## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
176 | # install(TARGETS ${PROJECT_NAME}
177 | # ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
178 | # LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
179 | # RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
180 | # )
181 |
182 | ## Mark cpp header files for installation
183 | # install(DIRECTORY include/${PROJECT_NAME}/
184 | # DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
185 | # FILES_MATCHING PATTERN "*.h"
186 | # PATTERN ".svn" EXCLUDE
187 | # )
188 |
189 | ## Mark other files for installation (e.g. launch and bag files, etc.)
190 | # install(FILES
191 | # # myfile1
192 | # # myfile2
193 | # DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
194 | # )
195 |
196 | #############
197 | ## Testing ##
198 | #############
199 |
200 | ## Add gtest based cpp test target and link libraries
201 | # catkin_add_gtest(${PROJECT_NAME}-test test/test_axis_by_axis.cpp)
202 | # if(TARGET ${PROJECT_NAME}-test)
203 | # target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
204 | # endif()
205 |
206 | ## Add folders to be run by python nosetests
207 | # catkin_add_nosetests(test)
208 |
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30 |
31 |
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/site/assets/javascripts/lunr/min/lunr.te.min.js:
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1 | !function(e,t){"function"==typeof define&&define.amd?define(t):"object"==typeof exports?module.exports=t():t()(e.lunr)}(this,function(){return function(e){if(void 0===e)throw new Error("Lunr is not present. Please include / require Lunr before this script.");if(void 0===e.stemmerSupport)throw new Error("Lunr stemmer support is not present. Please include / require Lunr stemmer support before this script.");e.te=function(){this.pipeline.reset(),this.pipeline.add(e.te.trimmer,e.te.stopWordFilter,e.te.stemmer),this.searchPipeline&&(this.searchPipeline.reset(),this.searchPipeline.add(e.te.stemmer))},e.te.wordCharacters="ఀ-ఄఅ-ఔక-హా-ౌౕ-ౖౘ-ౚౠ-ౡౢ-ౣ౦-౯౸-౿఼ఽ్ౝ౷",e.te.trimmer=e.trimmerSupport.generateTrimmer(e.te.wordCharacters),e.Pipeline.registerFunction(e.te.trimmer,"trimmer-te"),e.te.stopWordFilter=e.generateStopWordFilter("అందరూ అందుబాటులో అడగండి అడగడం అడ్డంగా అనుగుణంగా అనుమతించు అనుమతిస్తుంది అయితే ఇప్పటికే ఉన్నారు ఎక్కడైనా ఎప్పుడు ఎవరైనా ఎవరో ఏ ఏదైనా ఏమైనప్పటికి ఒక ఒకరు కనిపిస్తాయి కాదు కూడా గా గురించి చుట్టూ చేయగలిగింది తగిన తర్వాత దాదాపు దూరంగా నిజంగా పై ప్రకారం ప్రక్కన మధ్య మరియు మరొక మళ్ళీ మాత్రమే మెచ్చుకో వద్ద వెంట వేరుగా వ్యతిరేకంగా సంబంధం".split(" ")),e.te.stemmer=function(){return function(e){return"function"==typeof e.update?e.update(function(e){return e}):e}}();var t=e.wordcut;t.init(),e.te.tokenizer=function(r){if(!arguments.length||null==r||void 0==r)return[];if(Array.isArray(r))return r.map(function(t){return isLunr2?new e.Token(t.toLowerCase()):t.toLowerCase()});var i=r.toString().toLowerCase().replace(/^\s+/,"");return t.cut(i).split("|")},e.Pipeline.registerFunction(e.te.stemmer,"stemmer-te"),e.Pipeline.registerFunction(e.te.stopWordFilter,"stopWordFilter-te")}});
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/package_template/worlds/no_gravity.world:
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1 |
2 |
3 |
4 |
5 |
6 | 
11 | 
16 |
17 |
18 | Space robotics broadly encompasses the application of robots and autonomous systems for operations in the space environment. HURO Space Robotics section investigates the development of robotic systems and their control for performing tasks in space.
19 |
20 | !!! note
21 | You can find more information about this project and other works in our website:
22 | [HURO Space Robotics](https://www.huro.ua.es/index.php/research/research-lines/space-robotics)
23 |
24 | 
Follow us on [LinkedIn](https://www.linkedin.com/company/human-robotics-huro/mycompany/) for more updates!
25 |
26 | ## Licenses
27 |
28 | You are welcome to use this project, but please cite our work so we can keep developing applications.
29 |
30 | !!! warning
31 | Ramón, J. L., Pomares, J., & Felicetti, L. (2023). 
75 |
76 | 
77 |
78 |
79 | >> ### Elliptic Orbit
80 |
81 | The same orbit has been evaluated in this case with an eccentricity value of 0.01.
82 |
83 | eccentricity: 0.01
84 |
85 | The following graphs show the results for the elliptic orbit, following the same format as used for the circular orbit. The shapes of the orbits in both cases are consistent, with a maximum relative error of 1.64%.
86 |
87 | 
88 |
89 | 
90 |
91 |
92 | ---
93 |
94 | ## Other validations
95 |
96 |
97 | !!! Warning
98 | More validations on orbital mechanics and perturbation modelling to come.
99 |
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/package_template/launch/default.launch:
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1 |
2 |