The ISAAC project actively develops in a variety of repos hosted at Ames and JSC, as described on the (collaboration tools wiki page)[https://babelfish.arc.nasa.gov/confluence/display/astrosoft/Astrosoft+Collaboration+Tools]
This isaac repo serves as a master for integrating an end-to-end
demo that draws on code from the other repos (as well as directly
including a significant amount of the ISAAC code, mostly relating to
the Astrobee robot).
There are two main ways to install and run isaac:
-
For development: Build the
isaaccode on your native Ubuntu OS (or inside a normal virtual machine) in a way that makes it convenient for you to edit and incrementally recompile. -
For demo: For the ISAAC integrated demo, many ISAAC repos are checked out, built, and run in a distributed fashion across multiple docker containers. The
isaaccode itself is built and run inside one of these containers. Note that the in-docker build is managed by the Dockerfile and completely separate from any build in your native OS, and you don't need to install for development prior to installing for demo.
The isaac repo depends on the astrobee repo, therefore it inherits
the same system requirements. You must use Ubuntu 16.04 to 20.04 64-bit. When
running in simulation, certain Gazebo plugins require appropriate
graphics drivers. See INSTALL.md in that repository for more
information.
Instructions on installing and using the ISAAC Software. For running the demos
There are Doxygen comments in the header files. To compile (make sure you have the latest doxygen installed):
doxygen isaac.doxyfile
The ISAAC Software is open source, and we welcome contributions from the public.
Please submit pull requests to the develop branch. For us to merge any pull
requests, we must request that contributors sign and submit a Contributor License
Agreement due to NASA legal requirements. Thank you for your understanding.
Copyright (c) 2021, United States Government, as represented by the Administrator of the National Aeronautics and Space Administration. All rights reserved.
The "ISAAC - Integrated System for Autonomous and Adaptive Caretaking platform" software is licensed under the Apache License, Version 2.0 "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at http://www.apache.org/licenses/LICENSE-2.0.
Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.