Kingfisher M200

Subnet Router Setup The router in charge of the subnet needs to be aware of the vehicle so that it can route packets to and from vehicle payloads.

  • Log onto the router by visiting 192.168.1.1 with a browser.
  • Enter the admin password for the router, available from the lab manager.
  • Select the Connectivity tab on the left side.
  • Select the Advanced Routing tab along the top.
  • Click the Add Static Route button
  • Fill in the details for the new vessel
    • By our convention, Route Name is payloadVehicleName.
    • Destination IP is 192 168 X 0, where X is the vehicle number (e.g., Evan is 5, Felix is 6, etc.).
    • Subnet mask is always 255 255 255 0.
    • The Gateway is the IP address of the front seat (e.g., Evan is 192 168 1 175).
    • Interface is LAN.
  • Press the Save button.
  • Press the Apply button.
  • Press the Ok button.
  • Disconnect from the router by closing the browser tab.


MOOS-IvP and Kfish Repositories After logging in as the student user, follow these steps to acquire, build, and configure the MOOS-IvP and Kfish svn repositories:

  • Gain permissions over your login files: 
     $ sudo chown student .bashrc
     $ sudo chown student .profile
  • Download and install several prerequisite packages required for GNU/Linux: 
     $ sudo apt-get install g++ subversion cmake xterm 
     $ sudo apt-get install libfltk1.3-dev freeglut3-dev libpng12-dev libjpeg-dev 
     $ sudo apt-get install libxft-dev libxinerama-dev libtiff4-dev
  • Download MOOS-IvP from the svn server: 
     $ cd ~
     $ svn co https://oceanai.mit.edu/svn/moos-ivp-aro/trunk moos-ivp
  • Set the environment variable so that GUI applications will not be built: 
     $ cat >> ~/.bashrc
     export IVP_BUILD_GUI_CODE=off
     <Press control-D to stop appending to the file>
  • Exit and login again to register the changes to the .bashrc file.
  • Build MOOS-IvP: 
     $ cd ~/moos-ivp
     $ ./build.sh
  • Add the path /home/sudent/moos-ivp/bin/ to the PATH environment variable. Using your preferred text editor, add the following line to the end of the .bashrc@@ file: 
     export PATH=$PATH:/home/student/moos-ivp/bin/
  • Exit and log back in as the student user.
  • Download the moos-ivp-kfish repository from the svn server: 
     $ cd ~
     $ svn co https://oceanai.mit.edu/svn/moos-ivp-kfish/trunk moos-ivp-kfish
  • Build M200 relevant apps: 
     $ cd ~/moos-ivp-kfish
     $ ./build.sh -2
  • Add the path /home/student/moos-ivp-kfish/ to the PATH environment variable. Using your preferred text editor, add the following line to the end of the .bashrc@@ file: 
     export PATH=$PATH:/ome/student/moos-ivp-kfish/bin/