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Talk-05: Goby: A Framework for Multiple Scientific Autonomous Marine Vehicle Collaboration
Toby Schneider, MIT, Laboratory for Autonomous Marine Sensing Systems (LAMSS), and Center for Ocean Engineering
Abstract: Goby (https://launchpad.net/goby) is a collection of ideas and code to provide general purpose interprocess and inter-platform communication based on messaging schemes drawn both from the existing
marine robotics and global open source communities. The focus is on a high degree of runtime reliability and collaboration between development communities.
- For introductory users, it provides an "template" application in C++ that allows object-based messaging (based on Google Protocol Buffers) between processes and platforms without any concern for serialization, routing, sockets, and so on.
- For advanced users, it provides a transport layer built on ZeroMQ (which supports 20+ languages including C, C++, Java, .NET, Python, and major platforms) for communicating over reliable multicast (PGM) using one or more existing (e.g. MOOS, LCM, Protobuf, CCL, DCCL, ...) messaging schemes. Goby does not mandate a programming language, a messaging scheme, or a development system and thus intends to tie together groups with different goals, styles, and rules. Furthermore, Gateways can be written to interface the ZeroMQ based Goby transport with the native transport systems used by other architectures (e.g. MOOSDB, LCM multicast).
This talk will focus on the aspects of Goby that pertain directly to MOOS, including the MOOS/Goby gateway and CMOOSMsg logging in the Goby Database SQL logger. The acoustic networking components of Goby are addressed in a separate talk entitled "Goby-Acomms (including pAcommsHandler) Version 2: An Update on Acoustic Networking for Robotic Marine Platforms"
DOWNLOAD the brief given at MOOS-DAWG'11.
Categories:
- Autonomy Middleware
- Acoustic Communications
- Goby Project
- High Volume Data Logging