Examples of Applications using OnOrbitROS

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.

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Template

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.

When the launch file is loaded the world with a 1U cubesat in the world, describing the ETS VII's orbit.

roslaunch package_template default.launch

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ETS VII

The package ets_vii contains the simulation of the Japanese satellite ETS VII presented in 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

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).

roslaunch ets_vii effort_controllers_wgg.launch