Mission: berta

Maintained by: mikerb@mit.edu

https://github.com/moos-ivp/missions-auto/tree/main/01-berta

Synopsis: In the berta mission two vehicles loiter in opposite east-west locations and then periodically traverse to the opposite location, creating a collision avoidance situation as they pass. The loiter locations are randomly adjusted in the north-south direction to create slighly different angles on each crossing approach. The mission can be run with basic collision avoidance or COLREGS collision avoidance with a command-line switch.
Description:Simple one-on-one collision avoidance mission with randomization
Vehicle Amt:2 (max=2)
Apps: (Shore)uTimerScript, pMarineViewer, uFldShoreBroker, uFldNodeComms
Apps: (Vehicle)pNodeReporter, pMarinePIDV22, pHelmIvP, uFldNodeBroker, uLoadWatch, uMemWatch, pContactMgrV20, uSimMarineV22, iM300
Apps: (Both)MOOSDB, pRealm, pLogger, uProcessWatch, pShare, pHostInfo
Behaviors:Loiter, AvdColregsV22, Waypoint, StationKeep
Location:forest_lake (43.825300,-70.330400) (google maps)
LaunchScripts:launch.sh, launch_shoreside.sh, launch_vehicle.sh
Mission Files:meta_shoreside.moos, meta_vehicle.moos, meta_vehicle.bhv

To run this mission: 

    $ git clone git@github.com:moos-ivp/missions-auto.git
    $ cd missions-auto/01-berta
    $ ./launch.sh 15   (2 vehicles, 15x real time)