Mission: obavoid

Maintained by: mikerb@mit.edu

https://github.com/moos-ivp/missions-auto/tree/main/02-obavoid

Synopsis: In the obavoid mission, a single vehicle repeatedly traverses a racetrack pattern with the middle part comprising a randomly generated obstacle field. The field is re-generated on each loop of the pattern while the vehicle is outside the field. The number, size, and separation of the obstacles can be configured. The vehicle uses the obstacle simulator, and has a mode to simulate lidar returns on nearby obstacles. The uFldCollObDetect app is run in the shoreside to keep track of CPA distance on each encounter with an obstacle.
Description:Obstacle avoidance through a randomly generated obstacle field.
Vehicle Amt:1 (max=1)
Apps: (Shore)uFldShoreBroker, uFldNodeComms, uFldObstacleSim, uFldCollObDetect, pMissionEval, pAutoPoke, pMarineViewer, pMissionHash
Apps: (Vehicle)uSimMarine, pNodeReporter, pMarinePID, pHelmIvP, uFldNodeBroker, uLoadWatch, pObstacleMgr
Apps: (Both)MOOSDB, pRealm, pLogger, uProcessWatch, pShare, pHostInfo
Behaviors:PModelView, Waypoint, Waypoint, StationKeep, AvoidObstacleV24
Location:mit_pavlab (42.358436,-71.087448) (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/02-obavoid
    $ ./launch.sh 15   (1 vehicle, 15x real time)