MOOS-ivp学习教程，从头开始教如何进行学习MOOS编程进行C++/C语言的开发

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MIT_MOOS_course(1).zip （11个子文件）

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MOOS-IvP Autonomy Tools Users Manual

Release 13.5

Michael R. Benjamin

Department Mechanical Engineering

Computer Science and Artiﬁcial Intelligence Laboratory

Massachusetts Institute of Technology, Cambridge MA

May 01, 2013 - Release 13.5

Abstract

This document describes several MOOS-IvP autonomy tools. uHelmScope provides a run-time

scoping window into the state of an active IvP Helm executing its mission. pMarineViewer is a

geo-based GUI tool for rendering marine vehicles and geometric data in their operational area.

uXMS is a terminal based tool for scoping on a MOOSDB process. uTermCommand is a terminal

based tool for poking a MOOSDB with a set of MOOS ﬁle pre-deﬁned variable-value pairs

selectable with aliases from the command-line. pEchoVar provides a way of echoing a post to one

MOOS variable with a new post having the same value to a diﬀerent variable. uProcessWatch

monitors the presence or absence of a set of MOOS processes and summarizes the collective status

in a single MOOS variable. uPokeDB provides a way of poking the MOOSDB from the command

line with one or more variable-value pairs without any pre-existing conﬁguration of a MOOS ﬁle.

uTimerScript will execute a pre-deﬁned timed pausable script of poking variable-value pairs to a

MOOSDB. pNodeReporter summarizes a platforms critical information into a single node report

string for sharing beyond the vehicle. pBasicContactMgr provides a basic contact management

service with the ability to generate range-dependent conﬁgurable alerts. uSimMarine provides

a simple marine vehicle simulator. The Alog Toolbox is a set of oﬄine tools for analyzing and

manipulating log ﬁles in the .alog format.

This work is the product of a multi-year collaboration between the Department of Mechanical Engineering

and the Computer Science and Artiﬁcial Intelligence Laboratory (CSAIL) at the Massachusetts Institute of

Technology in Cambridge Massachusetts, and the Oxford University Mobile Robotics Group.

Points of contact for collaborators:

Dr. Michael R. Benjamin

Department of Mechanical Engineering

Computer Science and Artiﬁcial Intelligence Laboratory

Massachusetts Intitute of Technology

mikerb@csail.mit.edu

Dr. Paul Newman

Department of Engineering Science

University of Oxford

pnewman@robots.ox.ac.uk

Prof. Henrik Schmidt

Department of Mechanical Engineering

Massachusetts Intitute of Technology

henrik@mit.edu

Prof. John J. Leonard

Department of Mechanical Engineering

Computer Science and Artiﬁcial Intelligence Laboratory

Massachusetts Intitute of Technology

jleonard@csail.mit.edu

Other collaborators have contributed greatly to the development and testing of software and ideas within, no-

tably - Joseph Curcio, Toby Schneider, Stephanie Kemna, Arjan Vermeij, Don Eickstedt, Andrew Patrikilakis,

Arjuna Balasuriya, David Battle, Christian Convey, Chris Gagner, Andrew Shafer, and Kevin Cockrell.

Sponsorship:

This work is sponsored by Dr. Behzad Kamgar-Parsi and Dr. Don Wagner of the Oﬃce of Naval Research

(ONR), Code 311. Further support for testing and coursework development sponsored by Battelle, Dr. Robert

Carnes.

Contents

1 Introduction 17

1.1 Overview of the MOOS-IvP Project and MOOS-IvP Tools . . . . . . . . . . . . . . . 17

1.2 Module Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

1.2.1 Mission Monitoring Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

1.2.2 Mission Execution Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

1.2.3 Mission Simulation Modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18

1.2.4 Modules for Poking the MOOSDB . . . . . . . . . . . . . . . . . . . . . . . . 18

1.2.5 The Alog Toolbox . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

1.2.6 The uField Toolbox . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19

1.2.7 Brief Background of MOOS-IvP . . . . . . . . . . . . . . . . . . . . . . . . . 20

1.2.8 Sponsors of MOOS-IvP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

1.2.9 The Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

1.2.10 Building and Running the Software . . . . . . . . . . . . . . . . . . . . . . . . 21

1.2.11 Operating Systems Supported by MOOS and IvP . . . . . . . . . . . . . . . . 23

1.2.12 Where to Get Further Information . . . . . . . . . . . . . . . . . . . . . . . . 23

1.3 The uField Toolbox . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

1.4 Motivations for the uField Toolbox . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24

1.5 Introduction to AppCasting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

1.5.1 Motivation For AppCasting . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

1.5.2 MOOS Applications and Terminal Output . . . . . . . . . . . . . . . . . . . . 27

1.5.3 Viewing AppCasts and Navigating AppCast Collections . . . . . . . . . . . . 28

1.5.4 The AppCast Data Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . 29

1.5.5 A Preview of AppCast Viewing Utilities . . . . . . . . . . . . . . . . . . . . . 31

2 pMarineViewer: A GUI for Mission Monitoring and Control 33

2.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

2.1.1 The Shoreside-Vehicle Topology . . . . . . . . . . . . . . . . . . . . . . . . . . 33

2.1.2 Description of the pMarineViewer GUI Interface . . . . . . . . . . . . . . . . 35

2.1.3 The AppCasting, FullScreen and Traditional Display Modes . . . . . . . . . . 36

2.1.4 Run-Time and Mission Conﬁguration . . . . . . . . . . . . . . . . . . . . . . 37

2.1.5 Command-and-Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38

2.2 The BackView Pull-Down Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

2.2.1 Panning and Zooming . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39

2.2.2 Background Images . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40

2.2.3 Local Grid Hash Marks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

2.2.4 Full-Screen Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

2.3 The GeoAttributes Pull-Down Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . 42

2.3.1 Polygons, SegLists, Points, Circles and Vectors . . . . . . . . . . . . . . . . . 43

2.3.2 Markers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45

2.3.3 Comms Pulses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46

2.3.4 Range Pulses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

2.3.5 Drop Points . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49

2.4 The Vehicles Pull-Down Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

2.4.1 The Vehicle Name Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50

2.4.2 Dealing with Stale Vehicles . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

2.4.3 Supported Vehicle Shapes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

2.4.4 Vehicle Colors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

2.4.5 Centering the Image According to Vehicle Positions . . . . . . . . . . . . . . 52

2.4.6 Vehicle Trails . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

2.5 The AppCast Pull-Down Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53

2.5.1 Turning On and Oﬀ AppCast Viewing . . . . . . . . . . . . . . . . . . . . . . 53

2.5.2 Adjusting the AppCast Viewing Panes Height and Width . . . . . . . . . . . 54

2.5.3 Adjusting the AppCast Refresh Mode . . . . . . . . . . . . . . . . . . . . . . 54

2.5.4 Adjusting the AppCast Fonts . . . . . . . . . . . . . . . . . . . . . . . . . . . 55

2.5.5 Adjusting the AppCast Color Scheme . . . . . . . . . . . . . . . . . . . . . . 55

2.6 The MOOS-Scope Pull-Down Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

2.7 The Action Pull-Down Menu . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56

2.8 The Mouse-Context Pull-Down Menu . . . . . . . . . . . . . . . . . . . . . . . . . . 58

2.8.1 Generic Poking of the MOOSDB with the Operation Area Position . . . . . . 58

2.8.2 Custom Poking of the MOOSDB with the Operation Area Position . . . . . . 58

2.9 The Reference-Point Pull-Down Menu . . . . . . . . . . . . . . . . . . . . . . . . . . 59

2.10 Conﬁguration Parameters for pMarineViewer . . . . . . . . . . . . . . . . . . . . . . 61

2.10.1 Conﬁguration Parameters for the BackView Menu . . . . . . . . . . . . . . . 61

2.10.2 Conﬁguration Parameters for the GeoAttributes Menu . . . . . . . . . . . . . 62

2.10.3 Conﬁguration Parameters for the Vehicles Menu . . . . . . . . . . . . . . . . 64

2.10.4 Conﬁguration Parameters for the AppCast Menu . . . . . . . . . . . . . . . . 65

2.10.5 Conﬁguration Parameters for the Scope, MouseContext and Action Menus . 66

2.11 Publications and Subscriptions for pMarineViewer . . . . . . . . . . . . . . . . . . . 66

2.11.1 Variables Published by pMarineViewer . . . . . . . . . . . . . . . . . . . . . . 66

2.11.2 Variables Subscribed for by pMarineViewer . . . . . . . . . . . . . . . . . . . 67

3 uHelmScope: Scoping on the IvP Helm 68

3.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68

3.2 The Helm Summary Section of the uHelmScope Output . . . . . . . . . . . . . . . . 69

3.2.1 The Helm Status (Lines 1-8) . . . . . . . . . . . . . . . . . . . . . . . . . . . 69

3.2.2 The Helm Decision (Lines 9-11) . . . . . . . . . . . . . . . . . . . . . . . . . . 69

3.2.3 The Helm Behavior Summary (Lines 12-17) . . . . . . . . . . . . . . . . . . . 69

3.3 The MOOSDB-Scope Section of the uHelmScope Output . . . . . . . . . . . . . . . 70

3.4 The Behavior-Posts Section of the uHelmScope Output . . . . . . . . . . . . . . . . 71

3.5 Console Key Mapping and Command Line Usage . . . . . . . . . . . . . . . . . . . . 71

3.6 Helm-Produced Variables Used by uHelmScope . . . . . . . . . . . . . . . . . . . . . 73

3.7 Conﬁguration Parameters for uHelmScope . . . . . . . . . . . . . . . . . . . . . . . . 74

3.8 Publications and Subscriptions for uHelmScope . . . . . . . . . . . . . . . . . . . . . 75

3.8.1 Variables Published by uHelmScope . . . . . . . . . . . . . . . . . . . . . . . 75

3.8.2 Variables Subscribed for by uHelmScope . . . . . . . . . . . . . . . . . . . . . 75

4 pNodeReporter: Summarizing a Node’s Position and Status 77

4.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77

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