MOOS-IvP-ENSTABZH

Introduction

The moos-ivp-enstabzh repository is an extension of the MOOS-IvP Autonomy system. This includes MOOS applications, IvP behaviors and mission files for ENSTA Bretagne Robotics purposes.

Documentation

MOOSApp documentation is available by command line:

Options:
  --alias=<ProcessName>
      Launch the MOOSApp with the given process name.
  --example, -e
      Display example MOOS configuration block.
  --help, -h
      Display this help message.
  --interface, -i
      Display MOOS publications and subscriptions.
  --version,-v
      Display all information about the MOOSApp.

Complete documentation can also be found in doc/index.html. Click to access.

Directory Structure

The directory structure for the moos-ivp-enstabzh is decribed below:

Item	Description
bin	Directory for generated executable files
build	Directory for build object files
build.sh	Script for building moos-ivp-enstabzh
CMakeLists.txt	CMake configuration file for the project
data	Directory for storing data
doc	Directory for documentation files
lib	Directory for generated library files
missions	Directory for mission files
README	The file you are reading!
scripts	Directory for script files
src	Directory for source code (app, lib)

Installation

MOOS-IvP (typically v14.7.1) is supposed to be installed. More information available on the official website.

Additional packages are required for building moos-ivp-enstabzh:

sudo apt-get install libtinyxml2-dev

Build Instructions

Linux and Mac Users

To build on Linux and Apple platforms, execute the build script within this directory:

./build.sh

To build without using the supplied script, execute the following commands within this directory:

mkdir -p build
cd build
cmake ../
make
cd ..

Windows Users

To build on Windows platform, open CMake using your favorite shortcut. Then set the source directory to be this directory and set the build directory to the build directory inside this directory.

The source directory is typically next to the question: Where is the source code?
The build directory is typically next to the question: Where to build the binaries?

Alternatively, CMake can be invoked via the command line. However, you must specify your generator. Use cmake --help for a list of generators and additional help.

Environment variables

The moos-ivp-enstabzh binaries files should be added to your path to allow them to be launched from pAntler. Linux users can edit ~/.bashrc configuration file by adding at the end:

export PATH=$PATH:~/moos-ivp-enstabzh/bin
export PATH=$PATH:~/moos-ivp-enstabzh/lib
export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:~/moos-ivp-enstabzh/lib

In order for generated IvP Behaviors to be recognized by the IvP Helm, you should add the library directory to the IVP_BEHAVIOR_DIRS environment variable.

New XML documentation is also available by command-line (e.g. typing uJoystick -e). This can work by specifying the MOOS_IVP_ENSTABZH_PATH environment variable. For instance:

export MOOS_IVP_ENSTABZH_PATH="~/moos-ivp-enstabzh"

Generate a new MOOS Application

Please use GenMOOSApp_ENSTA script to generate an empty structure for your new MOOSApp. For instance:

cd ./src/app
GenMOOSApp_ENSTA SimModem u "John Doe"

Do not forget to add your new application to the CMake configuration file: ./src/app/CMakeLists.txt