MOOS-IvP   Home Page   (www.moosivp.org)

Home   Documentation   Software   Support   Contact Us   Background

Downloading the IvP Helm Code and Documentation

• The latest source code, and latest Release 4.0, 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.

Email Discussion Lists:

	MOOS-IvP email list:     All things related with the modules posted on this website.
	MOOS email list:     All things MOOS related.

Module Descriptions:

	MOOS Core (Newman)
	Strictly minimal set of modules for running MOOS. Latest versions and documentation at Paul Newman's website. Included here to allow for a complete stand-alone software set.
	MOOSLIB:    A library of core MOOS classes and functionality MOOSGenLib:    A library of general purpose MOOS utilities MOOSDB:    The MOOS database process central to all MOOS apps
	General Utilities (Newman)
	Utilities essential in practice for effective MOOS usage. Latest versions and documentation at Paul Newman's website along with many other useful applications. Included here to allow for a complete stand-alone software set.
	MOOSUtilityLib:    A library of general purpose MOOS utilities iRemote:    A remote control interface for manual vehicle control pAntler:    A utility for launching a batch of MOOS processes pLogger:    A tool for logging variable histories from the MOOSDB pMOOSBridge:    A tool for bridging variables between MOOS communities
	IvP Helm Core (Benjamin)
	Strictly minimal set of modules for running the IvP Helm.
	pHelmIvP:    An autonomous helm for marine and land robots   (pdf) lib_helmivp:    A library of the non-MOOS side of the IvP Helm lib_behaviors:    A library definining general IvP Behavior properties lib_behaviors-marine:    A library of marine autonomy behaviors lib_geometry:    A library of geometry data structures and algorithms for use by behaviors lib_ivpcore:    A library of core IvP data structures and algorithms lib_ivpbuild:    A library of tools for building IvP Functions lib_mbutil:    A library of general-purpose utility tools
	General Utilities (Benjamin)
	Practical utilities for running, planning and analyzing autonomy missions. Not strictly required for Helm operation, and with less guarantee of support and bug testing as the IvP Helm modules. Feedback and bug reports are welcome, complaints to /dev/null.
	iMarineSim:    A very simple marine vehicle simulator. pEchoVar:    A tool for re-publishing MOOS variables under a different name   (pdf) pMarinePID:    A PID controller for marine and land robots pMarineViewer:    A modest real-time 2D multi-vehicle renderer   (pdf) pNodeReporter:    An AIS-like report generator uFunctionVis:    A GUI for live rendering of IvP functions published by an IvP Helm uHelmScope:    A terminal-based scope on a running IvP Helm process   (pdf) uPokeDB:    A terminal-based tool for poking the MOOSDB   (pdf) uProcessWatch:    A watch-dog process for monitoring a set of other MOOS processes   (pdf) uTermCommand:    A terminal-based tool for executing pre-defined pokes of the MOOSDB   (pdf) uTimerScript:    A tool for scheduling a script of MOOS events, with randomization and pausing possible. uXMS:    A terminal-based MOOS scope   (pdf) app_geoview:    A tool for plotting and rendering waypoints on a 2D geodisplay app_alogclip:    A command-line tool for pruning MOOS alog files based on a given time window. app_aloggrep:    A command-line tool for filtering variable entries on a MOOS alog file by specifying variables or variable patterns to be retained. app_alogrm:    A command-line tool for filtering variable entries on a MOOS alog file by specifying variables or variable patterns to be removed. app_alogscan:    A command-line tool for scanning MOOS alog files and providing variable statistics app_logview:    A tool for rendering logged vehicle data on a 2D geodisplay app_nsplug:    A tool for defining input files with macros and file inclusion calls lib_marineview:    A library of common 2D vehicle rendering tools lib_navplot:    A library of tools for dealing with vehicle nav plots