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\begin{document}

\begin{labcover}
\labtitle{MOOS Utilities Overview}
\vspace{0.2in}
\labauth{Paul Newman, Oxford}
\end{labcover}

\wikidoc{file=IvPTools.MOOSUtilsIntro}
\wikidoc{auth=Paul Newman}

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\section{Overview}
%=================================================================

MOOS distributed by the Oxford Mobile Robotics Group, contains a
number of utility applications. Each of these apps and their
documentation was written by Paul Newman. The below is a short summary
of app functionality for four of the most common apps used by MOOS-IvP
users.

\begin{packed_itemize}
\item \app{pShare}: Implementes communication between MOOS
  communities.  This app is a successor to
  \var{pMOOSBridge}. \app{pShare} offers UDP communication between
  communities. It can share data over multicast channels. It allows
  renaming of variables as they are shared. It supports wildcard
  sharing so you can specify a simple regular expression describing
  what should be shared. It supports dynamic configuration via MOOS of
  sharing, forwarding and renaming. It supports both command line
  configuration and via a \var{.moos} file. One instance of
  \app{pShare} is needed per community.

\item \app{pLogger}: The logger is the primary logging utility used by
  many MOOS and MOOS-IvP users. It records the activity of a MOOS and
  may be configured to record a fraction of or every publication of
  any number of MOOS variables. There are also a number of tools
  written to analyze and reply the data for post-mission analysis.


\item \app{pAntler}: The \app{pAntler} utility is a common tool for
  starting up a set of processes all of which share a single
  configuration file.  It is used to launch/create a MOOS community.
  One of the ideas underlying MOOS is the one mission file one mission
  paradigm. A single mission file contains all the information
  required to configure all the processes needed to undertake the task
  (mission) in hand.

\item \app{iRemote}: This application allows the user to inject
  commands into a community and also to query the status of certain
  commonly used variables from a terminal.  \app{iRemote} was designed
  to be a control terminal for a deployed vehicle. It is really
  nothing more than a long switch statement based on characters input
  from the keyboard. One of its many functions is to allow remote
  control of the actuators of the vehicle. This is an invaluable asset
  for land and sub-sea vehicles alike.

\end{packed_itemize}


\end{document}

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