MOOS Applications:

   Sorted by Repository

   Sorted by Function

Key:

  • - Module maintained and distributed here.
  • - Module maintained and distributed elsewhere, re-distributed here.
  • - Module maintained and distributed elsewhere, advertised here.

Core Architecture

  • MOOSDB?- The MOOS database process central to all MOOS apps.
  • pHelmIvP? - An autonomous helm for marine and land robots.

Data Logging, Data Analysis, Data Visualization

  • pLogger? - A tool for logging variable histories from the MOOSDB.
  • alogview? - Render vehicle position histories and time series data from a log file.
  • aloggrep? - Filter a log file keying on one or more MOOS variables or sources to keep.
  • alogrm? - Filter a log file keying on one or more MOOS variables or sources to remove.
  • alogscan? - Generate statistical reports of a log file.
  • aloghelm? - Generate IvP Helm related reports from a given log file.
  • alogclip? - Clip a log file based on a start and end time.
  • zLoggerNG? - An alternative to pLogger that logs everything all the time.
  • zlog2alog? - A tool used to turn a (zLoggerNG) .zlog file into a (pLogger) .alog file.
  • zlogtool? - A tool used for exporting and filtering (zLoggerNG) .zlog files.

Poking and Scripted Interaction with the MOOSDB

  • uPokeDB? - A tool for poking the MOOSDB from the console with no prior configuration.
  • uTimerScript? - A tool for scripting (possibly conditional and random) pokes to the MOOSDB.
  • uTermCommand? - A tool for poking the MOOSDB with pre-defined variable-value pairs.
  • pEchoVar? - Receive and re-post one or more MOOS variables under a different name.
  • pScheduler? - A process for generating and marshalling mail within a MOOS community.
  • pSafety? - Monitors and sets MOOS variable(s) if not written to after a period of time.

Simulation Tools

  • iModemSim? - Simulation of the WHOI Micromodem (acoustic modem).
  • pMarinePID? - A simple PID controller.
  • uMVS? - A marine multi-vehicle simulator.
  • uSimCurrent? - A utility for simulating water current on a vehicle given a vehicle position.
  • uSimMarine? - A marine vehicle simulator of a single vehicle.
  • uFldBeaconRangeSensor? - A utility for simulating a range-only sensor.
  • serial_loopback? - Creates virtual null modem cable supporting uSimModem & iMicroModem.

Run-Time Visualization and Scoping

  • pMarineViewer?- A GUI tool for rendering vehicle operations onto an geo-referenced display.
  • uHelmScope? - A specialized scope on IvP Helm status and recent history.
  • uXMS? - A tool for focussed scoping of the MOOSDB from the console.
  • uMS? - A graphical scope for monitoring the contents of a running MOOSDB.
  • uProcessWatch? - Monitors the presence/health of other apps connected to the MOOSDB.
  • uFunctionVis? - A tool for scoping and rendering IvP functions as posted to the MOOSDB.
  • pCoroner? - Maintains a list of MOOS processes started and whether they are still alive.
  • MOOSDump? - A simple MOOS scope for dumping all MOOSDB variables to the terminal.

Acoustic Communications

  • iBellhop? - Interface to the ray tracing software BELLHOP by Michael Porter.
  • iCommander - Interface for commanding a vehicle through acoustic commands.
  • pAcommsHandler? - Message queuing process and driver for WHOI Micromodem.
  • pGeneralCodec - Highly configurable message encoder/decoder for acoustic comms.
  • iModemSim? - Simulation of the WHOI Micromodem (acoustic modem).
  • serial_loopback? - Creates virtual null modem cable supporting iModemSim & iMicroModem.

Mission Planning and Launching

  • pAntler? - A utility for launching a batch of MOOS processes.
  • nsplug? - A tool for expanding macros, conditional macros in text files similar to cpp.

Matlab or Octave Interface

Contact Management

  • pNodeReporter? - Captures vehicle state information and publishes a summary string.
  • pBasicContactMgr? - A simple manager of vehicle contacts, and generation of alerts.

Sensors and Device Drivers

  • iSerialNMEA? - Serial GPS stream parser for creating AIS reports.
  • i3DM_GX1? - A driver for the Microstrain 3DM-GX1 IMU device.
  • i3DM_GX2? - A driver for the Microstrain 3DM-GX2 IMU device.
  • iAISNMEA? - A driver for reading AIS messages (specifically AIVDM), posting to the MOOSDB.
  • iBatteryMonitor? - A battery monitor board driver to post temp, voltage, current to MOOSDB.
  • iCTDSBE49? - A driver for the SBE49 CTD device.
  • iKayakControlBoard? - A driver for the next-generation kayak control board.
  • iPNICompass? - A driver for the PNI compass module.
  • iPWMController? - A driver for the Pontech servo (PWM) output board.
  • iGPS_CV? - The base MOOS GPS driver with additional hooks for the Crescent Vector GPS.
  • iNMEASpeedTransducer? - Driver process for a NMEA standardized water speed sensor.
  • iOS5000? - Driver process for the OS5000 compass module.
  • iWinch? - Driver process for the winch control board.
  • iWinchCtl? - Wrapper around the iWinch process to manage slippage.
  • pGPSReTx? - A utility for forwarding GPRMC GPS NMEA messages to a specific host,port.
  • serial_loopback? - Creates virtual null modem cable supporting iModemSim & iMicroModem.

Autonomous Kakaks (Robotic Marine Systems)

  • i3DM_GX1? - A driver for the Microstrain 3DM-GX1 IMU device.
  • i3DM_GX2? - A driver for the Microstrain 3DM-GX2 IMU device.
  • iAISNMEA? - A driver for reading AIS messages (specifically AIVDM), posting to the MOOSDB.
  • iBatteryMonitor? - A battery monitor board driver to post temp, voltage, current to MOOSDB.
  • iCTDSBE49? - A driver for the SBE49 CTD device.
  • iKayakControlBoard? - A driver for the next-generation kayak control board.
  • iPNICompass? - A driver for the PNI compass module.
  • iPWMController? - A driver for the Pontech servo (PWM) output board.
  • iGPS_CV? - The base MOOS GPS driver with additional hooks for the Crescent Vector GPS.
  • iNMEASpeedTransducer? - Driver process for a NMEA standardized water speed sensor.
  • iOS5000? - Driver process for the OS5000 compass module.
  • iWinch? - Driver process for the winch control board.
  • iWinchCtl? - Wrapper around the iWinch process to manage slippage.
  • pGPSReTx? - A utility for forwarding GPRMC GPS NMEA messages to a specific host,port.