Space Station OS source

Prerequisites

• Ubuntu 22.04
• ROS 2 Humble (desktop install)

Installation

Common procedures for preparing Space Station OS:

• Install Ubuntu 22.04
• Install ROS 2 Humble (desktop install): https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debs.html
• Clone Space Station OS source

    cd /path/to/place_space_station_os/
    

• For ROS beginners: The directory structure typically looks like this:

    mkdir -p ~/ros2_ws/src
    cd ~/ros2_ws/src
    

• Then clone:

    git clone https://github.com/space-station-os/space_station_os.git
    

• Compile the Space Station OS source:

    cd /path/to/placed_space_station_os/
    colcon build --symlink-install
    source install/setup.bash
    

• For ROS beginners: assuming the stracture above, you can compile the Space Station OS source:

    cd ~/ros2_ws/
    colcon build --symlink-install
    source install/setup.bash
    

Demo1: Estimates of Nauka incident on ISS in July 2021 and more

Demo1 focuses on space station GNC features.

In Demo 1a, we estimate what happened and how the system and people reacted in the Nauka incident that occurred on the ISS in July 2021. https://www.nasaspaceflight.com/2021/07/nauka-docking/ In Demo 1b, we prepared for an imaginary difficult case.

Through these cases, we will study the importance of determining fault detection, isolation and recovery (FDIR).

Procedures to run Demo 1a/1b/1c

1. Terminal 1: handles scenario description and user input.
   • for Demo 1a

        ros2 run space_station_gnc demo1a_nauka_incident_estimate
        

- for Demo 1b -- more agressive incident. 

        ros2 run space_station_gnc demo1b_crisis_mainengine
        

- for Demo 1c -- less agressive incident, good for testing the CMG control

        ros2 run space_station_gnc demo1c_small_incident 
        

1. Terminal 2: handles space station actuation system and attitude control dynamics, where the user (you) do not need to touch thereafter.
   • common for Demo 1a/1b/1c

        ros2 launch space_station_gnc gnc_core.launch.py 
        

1. Terminal 3: Visualization in RViz
   • We use RViz, a common tool for visualization in ROS 2.
   • common for Demo 1a/1b/1c

        ros2 launch space_station_gnc gnc_rviz.launch.py
        

- Choose `Fixed Frame`, change from `map` to `world`
- Add a robot visualization : `Add` -> `RobotModel`
- Choose the  `Description Topic` of the `RobotModel`: use `/robot_description`
- You should now see the ISS model in rviz (you may need to zoom out)

- You can also choose your own space station by placing urdf file in 

      /path/to/placed_space_station_os/space_station_os/space_station_gnc/urdf
 
  where we prepared SD_SpaceStation_Ver05.urdf.


- To configure the space station for RViz, modify the launch file in

      /path/to/placed_space_station_os/space_station_os/space_station_gnc/launch/gnc_core.launch.py

1. Then you go back to Terminal 1 and follow the scenario in the console as the attitude of ISS is displayed in rviz2.

TODOs

See the project backlog https://github.com/orgs/space-station-os/projects/2/views/1