Group: Simulation

Total Lines of Code: 20,534

Total Files of Code: 133

Total Work Years: 4.2

Group Description: (27 modules)

The Simulation Toolbox contains a number of tools for supporting multi-vehicle missions where each vehicle is connected to a shoreside community. This includes both simulation and real field experiments. It also contains a number of simulated sensors that run on off-board the vehicle on the shoreside.

Documentation:

Distribution:

  • moos-ivp.org

Modules:

  • uSimDVL: A DVL simulator for navigation simulations.
  • uSimLBL: A simulator of an LBL system for navigation simulations.
  • uSimPhinsINS: An IxBlue INS simulator for navigation simulations.
  • uSimReplayPCAP: A MOOS app that can replay a PCAP file over UDP.
  • pAcommsSim: a GPU-accelerated multi-vehicle acomms simulator.
  • pSSView: A viewer for the pSonarSim application.
  • pLidarSim: GPU-accelerated lidar simulator.
  • pSonarSim: GPU-accelerated sonar sim to predict time-domain sonar returns.
  • pGridViewer: A MOOS viewer for Octree structures constructed from real or simulated point cloud data.
  • gen_obstacles: A command line tool for random generation of obstacle polygons to a file.
  • pMarinePID: Simple PID controller for heading, speed and depth.
  • pMarineViewer: Mission control GUI for monitoring, deploying and commanding vehicles.
  • pickpos: A cmdline utility choosing simulation starting values.
  • uFldBeaconRangeSensor: Simulates range information derived from pinging a buoy.
  • uFldCollisionDetect: Monitors ship traffic collisions and reports near collisions.
  • uFldCollObDetect: Monitors ship traffic obstacle collisions and reports near collisions.
  • uFldContactRangeSensor: Simulates range measurements to other moving contacts.
  • uFldMessageHandler: Handles and unwraps incoming messages from other vehicles.
  • uFldShoreBroker: Facilitates shoreside share connections to vehicle communities.
  • uFldNodeComms: Shoreside MOOS App for conditionally sending messages between vehicles.
  • uFldObstacleSim: Simulation of obstacle (re)generation and lidar sensing of obstacles.
  • uFldScope: Shoreside MOOS App for monitoring user-chosen fields across vehicles.
  • uFldNodeBroker: Facilitates vehicle share connections to shoreside community.
  • uPokeDB: A command line app for poking the MOOSDB.
  • uQueryDB: A command line app, connect to MOOSDB, check condition, then exit.
  • uSimMarine: A simple marine vehicle simulator.
  • uTimerScript: An app for generating scripted pokes to the MOOSDB.