Downloading the IvP Helm Code and Documentation
The latest source code, and latest Release 4.0.1, can be found here?.
The latest IvP Helm and MOOS documentation can be found here?.
About this code:
The MOOS-IvP software tree contains ~25 distinct software modules supporting autonomous control of unmanned marine vehicles, only eight of which are dedicated specifically to autonomous control. The remaining modules provide sufficient ability (simple simulation, rendering, and mission control etc) to run the examples provided in the documentation.
The primary executable, pHelmIvP, is a MOOS application that co-exists with other MOOS processes in a typical configuration. MOOS is a set of software modules written by Paul Newman of Oxford University, initially when Paul was a post-doc at MIT working for John Leonard. MOOS has been extended and improved since Paul has moved to Oxford and the latest releases are available from the Oxford website. The core of MOOS provides interprocess communication and scheduling of processes. In addition, a number of useful MOOS applications are provided by Newman, some of which are re-included in this tarfile for the sake of providing a minimally functional system to get started with the helm.