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\subsection{Preliminaries: The Helm Behavior Path}
\label{sec_bhv_dir}

Two behavior library folders need to be in your behavior path. They
are:

\begin{packed_itemize}
\item \var{moos-ivp-extend/lib}
\item \var{moos-ivp-2680/lib}
\end{packed_itemize}

\vspace{0.1in}
\noindent
The \var{moos-ivp-extend} tree will hold your \var{Scout} behavior
when needed in the final part of this lab sequence. The \var{2680}
library folder contains the staw-man version of the \var{Scout}
behavior used for testing until replaced with your behavior.  {\bf
  Important:} When you are ready to use {\em your} Scout behavior,
comment out the \var{2680} library from your behavior path.

\vspace{0.1in}
\noindent
If not done already, on your laptop and PABLO, augment your
\var{.bashrc} file to augment the \var{IVP\_BEHAVIOR\_DIRS} to the
following:

\vspace{0.1in}
\begin{fileverb}
IVP_BEHAVIOR_DIRS+=~/moos-ivp-2680/lib      (comment out when you have your own)
IVP_BEHAVIOR_DIRS+=:~/moos-ivp-extend/lib
export IVP_BEHAVIOR_DIRS
\end{fileverb}

\vspace{0.1in}
\noindent
Confirm your path afterwards by examining the
\var{\$IVP\_BEHAVIOR\_DIRS} environment variable:

\vspace{0.1in}
\begin{consoleverb}
$ echo $IVP_BEHAVIOR_DIRS
\end{consoleverb}
\vspace{0.1in}

\noindent
Note: The helm will not complete its startup process if it detects a
behavior of the same name in two locations in the
\var{IVP\_BEHAVIOR\_DIRS}. That may happen in this lab since the
\var{BHV\_Scout} behavior exists in the \var{moos-ivp-2680} tree, and
then you will make your version in your \var{moos-ivp-extend}
tree. Using the same name has its benefits since it allows us to have
a common mission \var{meta\_vehicle.bhv} file.


\vspace{0.1in}
\noindent
There exists a convenience function in \var{moos-ivp/scripts} called
\cmd{path\_bhv.sh}. This command will list your
\var{\$IVP\_BEHAVIOR\_DIRS} environment variable in a more human
readable format.  Normally the output is one long line with each
directory separated by a colon:

\begin{consoleverb}
 $ echo $IVP_BEHAVIOR_DIRS
 /home/janedoe/moos-ivp-foo/trunk/lib:/home/janedoe/moos-ivp-bar/lib:/home/jane\
 doe/moos-ivp-2680/lib:/home/janedoe/moos-ivp-foobar/trunk/lib
\end{consoleverb}

\vspace{0.1in}
\noindent
The \cmd{path\_bhv.sh} utility will separate each directory out to a
single line:

\begin{consoleverb}
 $ path_bhv.sh
 1: /home/janedoe/moos-ivp-foo/trunk/lib
 2: /home/janedoe/moos-ivp-bar/lib
 3: /home/janedoe/moos-ivp-2680/lib
 4: /home/janedoe/moos-ivp-foobar/trunk/lib
\end{consoleverb}



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