Mission: legrun

Maintained by: mikerb@mit.edu

https://github.com/moos-ivp/missions-auto/tree/main/03-legrun

Synopsis: A simple mission demonstrating the LegRun behavior. This behavior is characterized by two waypoints (the leg) with a Williamson turn at either end. The direction and size of the Williamson. During a mission, The leg can be rotated, lengthened and the size direction of the Williamson turns can also be dynamically adjusted in mid-mission. The pMarineViewer GUI in this mission is configured with buttons to perform these mid-mission adjustments.
Description:A simple mission using the LegRun behavior
Vehicle Amt:1 (max=1)
Apps: (Shore)pMarineViewer, uFldShoreBroker, uFldNodeComms
Apps: (Vehicle)pNodeReporter, pMarinePID, pHelmIvP, uFldNodeBroker, uSimMarineV22, iM300X, iM300Health
Apps: (Both)MOOSDB, pRealm, pLogger, pShare, pHostInfo, uProcessWatch
Behaviors:LegRun, Waypoint, StationKeep, OpRegionV24
Location:mit_pavlab (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/03-legrun
    $ ./launch.sh 15   (1 vehicle, 15x real time)