Mission: opregion

Maintained by: mikerb@mit.edu

https://github.com/moos-ivp/missions-auto/tree/main/06-opregion

Synopsis: The OpRegionV24 behavior is a safety behavior ensure that a vehicle stays within a specified operation area given by a convex polygon. Once a vehicle is outside the region by a certain distance, the behavior will begin to be ative (produce an objective function) to bring the vehicle back inside the polygon. If the vehicle goes outside the region by a certain larger distance, the behavior will post an all-stop message. This mission begins with the vehicle inside the region and drives toward a waypoint outside the polygon.
Description:A simple mission demonstrating/testing the OpRegionV24 behavior
Vehicle Amt:1 (max=1)
Apps: (Shore)pMarineViewer, uFldShoreBroker, uFldNodeComms
Apps: (Vehicle)pNodeReporter, pMarinePIDV22, pHelmIvP, uFldNodeBroker, uSimMarineV22, iM300X, iM300Health
Apps: (Both)MOOSDB, pRealm, pLogger, pShare, pHostInfo, uProcessWatch
Behaviors:OpRegionV24, Waypoint
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/06-opregion
    $ ./launch.sh 10   (1 vehicle, 10x real time)