Kingfisher Software: The moos-ivp-kfish tree

The moos-ivp-kfish Tree

The moos-ivp-kfish tree contains (a) the Clearpath robotics API libraries, (b) a handful of Clearpath Robotics utilities that link against their API libraries, and (c) A MOOS module for controlling the Kingfisher motor that links against both the Clearpath API libraries and the MOOS libraries.


Installing the moos-ivp-kfish tree:

  • Download the moos-ivp-kfish tree.
  • Build the software.
  • Add the executables to your shell path and confirm the build.

Although the modules in this tree are meant to be run on the CPU on the Kingfisher vehicle, the build should still work on your own laptop/desktop machine.


Step #1 Downloading the moos-ivp-kfish tree

The moos-ivp-kfish tree is available via SVN on the oceanai server. A read-only version is available with anonymous access (no user account necessary), by typing the following on the command line: 

    svn co https://oceanai.mit.edu/svn/moos-ivp-kfish


Step #2 Building the software

Enter the following at the command line to build: 

    $ cd moos-ivp-kfish/trunk
    $ ./build.sh


Step #3 Adding the new exutables to your shell path and confirm the build.

The new executables should all be in the moos-ivp-kfish/trunk/bin/ directory. Add this to your shell path.

You should be able to do the following to confirm that software has been built and is in your shell path: 

    $ rehash
    $ which iKFController
    /home/you-the-user/moos-ivp-kfish/trunk/bin/iKFController