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\input{common_latex/common_latex_packages}
\input{common_latex/common_latex_definitions}
\input{common_latex/common_latex_help_format}
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\begin{document}

\begin{labcover}
\labtitle{Help Topic: Running the MOOS-IvP Software}
\vspace{0.1in}
\labdate{Spring 2022}
\vspace{0.1in}
\labauth{Michael Benjamin, mikerb@mit.edu}
\labauth{Department of Mechanical Engineering}
\labauth{MIT, Cambridge MA 02139}
\labline
\end{labcover}

\wikidoc{file=Help.MIPFirstRun}
\wikidoc{auth=mikerb@mit.edu}

%====================================================================
\section*{Running the MOOS-IvP Software}
%====================================================================

After a successful build, there should be about 100 new executables in
the below directory. Start by confirming this.

\vspace{0.1in}
\begin{consoleverb}
 $ cd  ~/moos-ivp/bin/
 $ ls 
 (about 100 executables, including MOOSDB and pHelmIvP)
\end{consoleverb}
\vspace{0.1in}

\noindent
If you don't see these files in the bin directory, go back to the step
of downloading and building the course software.

\vspace{0.1in}
\noindent
{\bf Command line tip:} To see exactly how many items are in this directory, you
can use a combination of \cmd{ls} and sending the results to the \cmd{wc}
or "word count" utility, by piping the output of \cmd{ls} to \cmd{wc}:

\begin{consoleverb}
$ cd ~/moos-ivp/bin
$ ls | wc -l
107                  (number may vary as the code evolves)
\end{consoleverb}

%====================================================================
\subsection*{Add the new executables to your shell path}

This \var{moos-ivp/bin/} directory needs to be added to your shell
path. If you know how to augment your shell path do this now and
proceed to the next step. Otherwise, see the help topic:

\vspace{0.1in}

\urlxx{http://oceanai.mit.edu/ivpman/help/cmdline_augment_shell_path}

%====================================================================
\subsection*{Verify that moos-ivp executables are in your shell path}

After the code is built, and the shell path has been augmented, we
should be able to run an example. First, a simple sanity test:

\vspace{0.1in}
\begin{consoleverb}
 $ which MOOSDB
 /Users/you/moos-ivp/bin/MOOSDB
 $ which pHelmIvP 
 /Users/you/moos-ivp/bin/pHelmIvP
\end{consoleverb}
\vspace{0.1in}

\noindent
If either of the above \cmd{which} queries turn up blank, go back and
verify that the software built (check the bin directories), and verify
that your shell path has been augmented. 

%====================================================================
\subsection*{Run the example "alpha" mission}

Now launch the example "alpha" mission:

\vspace{0.1in}
\begin{consoleverb}
 $ cd moos-ivp/ivp/missions/s1_alpha
 $ pAntler --MOOSTimeWarp=10 alpha.moos
\end{consoleverb}
\vspace{0.1in}

\noindent
When the \app{pMarineViewer} window comes up, hit the \var{Deploy}
button. You should see something similar to this.

\vspace{0.1in}
\begin{figure}[H]
  \centering
  \includegraphics[width=0.95\textwidth]{figs_help/alpha.png}
  \caption{A screen shot of the Alpha example mission shortly after launch.}
\label{fig_help_alpha}
\end{figure}


%====================================================================
\subsection*{Operating Systems Supported by MOOS and IvP}

The MOOS software distributed by Oxford is well supported on Linux,
Windows and Mac OS X. The software distributed by MIT includes
additional MOOS utility applications and the IvP Helm and related
behaviors. These modules are supported on Linux and Mac OS X and the
software compiles and runs on Windows but Windows support is limited.

\end{document}


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