Group: Oxford MOOS


Total Lines of Code: 24,346

Total Files of Code: 206

Total Work Years: 5.39


Group Description: (8 modules)

MOOS is often described as autonomy middleware which implies that it is a kind of glue that connects a collection of applications where the real work happens. MOOS does indeed connect a collection of applications, of which the IvP Helm is one. MOOS is cross platform stand-alone and dependency free. It needs no other third-party libraries. Each application inherits a generic MOOS interface whose implementation provides a powerful, easy-to-use means of communicating with other applications and controlling the relative frequency at which the application executes its primary set of functions. Due to its combination of ease-of-use, general extendibility and reliability, it has been used in the classroom by students with no prior experience, as well as on many extended field exercises with substantial robotic resources at stake.

Documentation:

Distribution:

Modules:

  • MOOSDB: The main communication mechanism for all MOOS apps.
  • iMatlab: A tool for connecting Matlab to a running MOOS community.
  • iRemoteLite: A remote control interface for manual vehicle control.
  • pAntler: A utility for launching a batch of MOOS processes.
  • pLogger: A utility for logging the variables histories from the MOOSDB.
  • pShare: A tool for bridging between MOOS communities.
  • uMS: A graphical scope for monitoring the contents of a running MOOSDB.

  • lib_MOOS: Core MOOS comms, MOOS App superclass, and utitlities implementation.