MOOS-IvP Autonomy Tools Users Manual

Abstract

This document describes seven common MOOS-IvP autonomy tools. The uHelmScope application provides a run-time scoping window into the state of an active IvP Helm executing its mission. The pMarineViewer application is a geo-based GUI tool for rendering marine vehicles and certain autonomy properties in their operational area. The uXMS application is a terminal based tool for live scoping on a MOOSDB process. The uTermCommand application is a terminal based tool for poking the MOOSDB with a set of MOOS file pre-defined variable-value pairs selectable with tab-completion of aliases from the command-line. The pEchoVar application provides a way of echoing an observed write to a variable with a new write with the same value to a different variable name. The uProcessWatch application is a way of monitoring the presence or absence of a set of MOOS processes and summarizing the collective status in a single MOOS variable. The uPokeDB application is a way of poking a MOOSDB from the command line with one or more variable-value pairs without any pre-existing configuration of a MOOS file.