ServerHost = localhost ServerPort = $(MOOS_PORT) Community = $(VNAME) #include plugs.moos //------------------------------------------------------------ ProcessConfig = ANTLER { MSBetweenLaunches = 100 Run = MOOSDB @ NewConsole = false Run = pShare @ NewConsole = false Run = pLogger @ NewConsole = false Run = pNodeReporter @ NewConsole = false Run = pMarinePIDV22 @ NewConsole = false Run = pHelmIvP @ NewConsole = false Run = pHostInfo @ NewConsole = false Run = uFldNodeBroker @ NewConsole = false Run = pDeadManPost @ NewConsole = false Run = pRealm @ NewConsole = false Run = uFldMessageHandler @ NewConsole = false Run = uProcessWatch @ NewConsole = false //Run = uLoadWatch @ NewConsole = false Run = pGenericGridSensor @ Newconsole = false Run = uGridManager @ Newconsole = false Run = uGridManager @ Newconsole = false ~uGridManagerMCTS Run = pGridEst @ Newconsole = false Run = pMCTSPlanner @ Newconsole = false #ifdef XMODE SIM Run = uSimMarineV22 @ NewConsole = false #elseifdef XMODE BBOAT // Custom interface apps here #endif } #ifdef XMODE SIM #include plugs.moos #endif #include plugs.moos #include plugs.moos #include plugs.moos #include plugs.moos //--------------------------------------- // pHelmIvP Config Block ProcessConfig = pHelmIvP { AppTick = 4 CommsTick = 4 behaviors = targ_$(VNAME).bhv verbose = false domain = course:0:359:360 domain = speed:0:14.0:21 ok_skew = any } //--------------------------------------- // pNodeReporter Config Block ProcessConfig = pNodeReporter { AppTick = 2 CommsTick = 2 vessel_type = heron } //--------------------------------------- // pDeadManPost Config Block ProcessConfig = pDeadManPost { AppTick = 4 CommsTick = 4 heartbeat_var = HEARTBEAT max_noheart = 15 post_policy = reset active_at_start = false deadflag = DEPLOY = false } //---------------------------------------- // uFldMessageHandler Config Block ProcessConfig = uFldMessageHandler { AppTick = 3 CommsTick = 3 strict_addressing = false } //---------------------------------------- // uFldNodeBroker Config Block ProcessConfig = uFldNodeBroker { AppTick = 1 CommsTick = 1 try_shore_host = pshare_route=$(SHORE_IP):$(SHORE_PSHARE) bridge = src=VIEW_POLYGON bridge = src=VIEW_POINT bridge = src=VIEW_SEGLIST bridge = src=VIEW_CIRCLE bridge = src=VIEW_GRID bridge = src=VIEW_GRID_DELTA bridge = src=APPCAST bridge = src=NODE_REPORT_LOCAL, alias=NODE_REPORT bridge = src=NODE_MESSAGE_LOCAL, alias=NODE_MESSAGE } //--------------------------------------- // pMarinePIDV22 Config Block ProcessConfig = pMarinePIDV22 { AppTick = 10 CommsTick = 10 verbose = true depth_control = false active_start = true // Yaw PID controller (Set for M300) yaw_pid_kp = 0.9 yaw_pid_kd = 0.6 yaw_pid_ki = 0.3 yaw_pid_integral_limit = 0.3 // Speed PID controller speed_pid_kp = 1.0 speed_pid_kd = 0.0 speed_pid_ki = 0.0 speed_pid_integral_limit = 0.07 // Maximums maxrudder = 100 // 100 maxthrust = 100 } //-------------------------------------------------- ProcessConfig = pLogger { AppTick = 10 CommsTick = 10 File = LOG_%(VNAME) PATH = ./ SyncLog = true @ 0.2 AsyncLog = true FileTimeStamp = true Log = IVPHELM_LIFE_EVENT @ 0 nosync // Log it all!!!!! LogAuxSrc = true WildCardLogging = true WildCardOmitPattern = *_STATUS WildCardOmitPattern = DB_VARSUMMARY WildCardOmitPattern = DB_RWSUMMARY } //-------------------------------------------------- ProcessConfig = pGenericGridSensor { AppTick = 4 CommsTick = 4 filename = grids/Alta_sea_small.grd output_var = SENSOR_READING max_val = 1 min_val = 0 } //-------------------------------------------------- ProcessConfig = uGridManager { AppTick = 2 CommsTick = 2 delta_tolerance = 0.1 max_cells_to_update = 500 } //-------------------------------------------------- ProcessConfig = uGridManagerMCTS { AppTick = 2 CommsTick = 2 delta_tolerance = 0.1 max_cells_to_update = 1000 ignore_list = file,value,variance,grad,grad_var grid_request = reward incoming_grid_request_moos_var = NEVER_PUBLISH_HERE outgoing_grid_spec_moos_var = REWARD_GRID outgoing_grid_spec_delta_moos_var = REWARD_GRID_DELTA } //-------------------------------------------------- ProcessConfig = pGridEst { AppTick = 4 CommsTick = 4 filename = grids/Alta_sea_small.grd sensor_moos_var = SENSOR_READING stale_thresh = 2.0 time_between_est = 5.0 nominal_number_samples = 200 adaptively_change_number_samples = true max_iterations = 10 sensor_variance = 0.1 kernel_length_scale = 0.005 // exp(kernel_length_scale * dist^2) min_val = 0.0 max_val = 1.0 min_var = 0.0 max_var = 1.0 min_grad = 0.0 max_grad = 0.1 min_grad_var = 0.0 max_grad_var = 1.0 min_reward = 0.0001 // 1.0 max_reward = 0.07 // 30.0 reward_function = ucb ucb_delta = 10 ucb_xi = 0.0004 mvi_robot_noise = 0.01 max_cells_to_update = 500 // app_logging=log } //-------------------------------------------------- ProcessConfig = pMCTSPlanner { AppTick = 4 CommsTick = 4 travel_dist_between_steps = 2 steps_between_nodes = 5 min_turn_radius = 8.0 number_children = 11 max_depth = 15 zeta = 30 //16 // Increasing results in more expansions (exploration) ucbt_c = 0.00001 // Decreasing results in a preference for exploiting // children that have higher average value. // increasing results in a preference for exploring // children that have not been visited yet. time_limit = 0.7 replan_interval = 10.0 post_visuals = true max_nodes_visualized = 300 min_edge_size = 1 max_edge_size = 5 edge_color = gray best_path_color = yellow moos_var_for_reward_grid_val = REWARD_GRID moos_var_for_reward_grid_delta = REWARD_GRID_DELTA moos_var_for_path_updates = SEARCH_UP region = pts={3.1,-23.7:-59,175.6:-119.1,272.5:-181.9,254.3:-110.7,26.3:-53.7,-37.8} backup_waypoints = pts={-75,125:-75,150:-105,150:-105,125:-75,125} app_logging = log }