Heron Software: Overview

The MIT Herons are configured to run with the MOOS-IvP autonomy software. This page describes the recommended configuration for typical user on the Heron vehicles. Use at MIT typically involves a separate payload autonomy computer, a PABLO, connected to the Clearpath main vehicle computer. The user is primarily concerned with the software on the PABLO. The discussion belowconcerns the software on the PABLO.

Software and mission configurations are typically managed via access to an SVN server on the MIT campus. This helps ensure that software modifications, and perhaps mission modifications as well, are propagated to all vehicles. This mode of using the SVN server becomes increasingly important as the number of vehicles grows.

Software and Mission Trees

There are three trees on the SVN server relevant to these vehicles:

  • The moos-ivp tree: The MOOS-IvP tree is the core MOOS and IvP helm software available from www.moos-ivp.org. Instructions downloading and compiling this tree can be found here.
  • The moos-ivp-kfish tree
  • The missions-kfish tree
TreeRead AccessWrite Access
moos-ivpAnonymousDevelopers
moos-ivp-kfishAnonymousWith Student Account
missions-kfishAnonymousWith kfuser Account