Mission: fixed_turn

Maintained by: mikerb@mit.edu

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

Synopsis: The FixedTurn behavior is meant to turn the vehicle in a given direction with a steady delta heading command, for a given number of degrees before completion. In this mission, the behavior is commenced during the leg portion of a LegRun behavior, using the midflag capability of the latter. The FixedTurn behavior is able to estimate the vehicle turn radius by by averaging the distance of points on the trajectory that are 180 degrees apart. This kind of mission can be used for automating the in-field test of a vehicle to determine its turning radius capabilities at different speeds.
Description:A simple mission using the FixedTurn within 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:FullStop, LegRun, FixedTurn, 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/04-fixedturn
    $ ./launch.sh 15   (1 vehicle, 15x real time)