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alpha

This section was written by Claude.

MOOS-IvP's alpha mission (a survey, then a return) with goby_helm_ivp driving Goby's basic frontseat simulator, at time warp 10.

flowchart LR
  helm["goby_helm_ivp"] -- "DesiredCourse" --> fs["goby_frontseat_interface"]
  fs <--> sim["goby_basic_frontseat_simulator"]
  fs -- "NodeStatus" --> helm
  fs -- "NodeStatus" --> ocpn["goby_opencpn_interface"]
  ocpn -- "AIS, TCP 54000" --> opencpn["OpenCPN"]
  fs -- "NodeStatus" --> gw["goby_moos_gateway"]
  helm -- "Posting, Status" --> gw
  gw -- "buttons (Variable)" --> helm
  subgraph moos["MOOS (viewer.launch)"]
    gw <--> db["MOOSDB"] <--> pnr["pNodeReporter"]
    db <--> pmv["pMarineViewer"]
  end
Loading

Running

From the top of IvPico, after ./build.sh:

export PATH=$PWD/build/usr/bin:$PATH
export GOBY_TOOL_LOAD_SHARED_LIBRARY=$PWD/build/usr/lib/libivpico_interface.so
cd launch/goby/alpha
goby_launch alpha.launch
./deploy.sh

deploy.sh publishes DEPLOY=true and lifts the manual override with goby zeromq publish, which can publish any other Variable or Command the same way.

As in MOOS-IvP's alpha, the helm parks when the survey is done (pHelmIvP's park_on_allstop); deploy again to return.

Viewing in pMarineViewer

viewer.launch shows the vehicle in pMarineViewer as in MOOS-IvP's alpha mission, with its buttons (DEPLOY, RETURN, ...) working. Start it after alpha.launch:

goby_launch viewer.launch

It runs a MOOS community (alpha.moos), which goby_moos_gateway with IvPico's plugin (src/bin/goby/moos_gateway) gives what pHelmIvP and its navigation would post: NAV_*, the helm's postings (VIEW_*, WPT_STAT, ...) and IVPHELM_*. The MOOS variables listed in config/moos_gateway.pb.cfg go back to the helm as Variables.

Changing the datum and time warp

./set_datum_warp.sh --datum 42.358456 -71.087589 --warp 5

sets them in every configuration (and alpha.moos), starts the vehicle at the datum, and chooses the MOOS-IvP image covering it for pMarineViewer. With no options it prints the current settings.

Viewing in OpenCPN

goby_opencpn_interface serves the vehicle's position as AIS on TCP port 54000 (config/opencpn.pb.cfg).

  1. Install OpenCPN: sudo add-apt-repository ppa:opencpn/opencpn && sudo apt install opencpn.
  2. In Options: Connections, add a Network connection: TCP, address 127.0.0.1, port 54000.
  3. The vehicle appears as an AIS target near 43.825 N, 70.330 W. Charts are optional (Options: Charts: Chart Downloader).

See Goby's visualization interfaces for more.