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\input{common_latex/common_latex_packages}
\input{common_latex/common_latex_lab_format}
\input{common_latex/common_latex_definitions}
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\begin{document}
\wikidoc{file=Lab.ClassRescue4}
\wikidoc{auth=mikerb@mit.edu}
\helplevelsubsec


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% Build the Cover Page in an environment style easy for wiki parsing
\begin{labcover}
\labtitle{Lab 16 - Autonomous Rescue Challenge - Part 4}
\vspace{0.1in}
\labtitle{Initial In-Water Competition}
\vspace{0.1in}
\labcourse{2.680 Unmanned Marine Vehicle Autonomy, Sensing and Communications}
\vspace{0.1in}
\labpng{0.65}{figures/herons_lab16.png}
\vspace{0.2in}
\labdate{April 29th 2025}
\vspace{0.1in}
\labauth{Michael Benjamin, mikerb@mit.edu}
\labauth{Department of Mechanical Engineering}
\labauth{MIT, Cambridge MA 02139}
\vspace{0.12in}
\labtoc{footnotesize}
\labtocdepth{2}
\end{labcover}

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\newpage \section{Overview and Objectives}

In the fourth part of the Autonomous Rescue Challenge lab we return to
the water and will run our missions on the Herons. The goal in this
lab is to select two teams, four students, where each team fields a
Heron running their own autonomy with their own version of
\app{pGenRescue}.  We will work with the same mission structure as in
the previous lab, \var{rescue\_baseline}. A TA will run the shoreside
mission.

\vspace{0.1in}
\noindent
A summary of topics:

\begin{labinfo}
\begin{packed_itemize}[2]
\item Revisiting the PABLO operation of the Heron robot.
\item Demonstration of student-provided path planning module,
  \app{pGenRescue}, in an adversarial situation.
\end{packed_itemize}
\end{labinfo}


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\section{Preliminaries}
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\input{common_rescue/doc_conventions}
\input{common_rescue/update_code}
\input{common_rescue/pav_coords}
\input{common_rescue/shell_path}
\input{common_rescue/bhv_path}

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\newpage
\section{The Baseline Mission for Today's Lab}
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\label{sec_baseline}

We will continue to use the baseline mission from the previous labs,
\var{moos-ivp-2680/missions/rescue\_baseline}. This mission folder is
updated as part of the \var{moos-ivp-2680} tree.

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\subsection{Launching the Vehicle Mission}

To launch a mission, you will need to be logged into the PABLO on your robot,
and know one piece of information:

\begin{packed_itemize}
\item The IP Address of the computer running the shoreside software
\end{packed_itemize}

\noindent
Assuming your shoreside IP address is say 192.168.1.241, you will
launch with:

\vspace{0.1in}
\begin{consoleverb}
PABLO  $ cd moos-ivp-2680/missions/rescue_baseline
PABLO  $ ./launch_vehicle.sh --shore=192.168.1.241 -v
\end{consoleverb}
\vspace{0.1in}

\noindent
It's always a good idea to run the above command with the
\var{--verbose} or \var{-v} flag. This will present the user with the
configuration summary, after which the launch can be continued by
hitting the Enter key. You can also launch with the \var{--just\_make},
or \var{-j} flag. This will just make the targ files,
\var{targ\_abe.moos} and \var{tar\_abe.bhv} for example. If you see
any error messages in this process, address them before
continuing. Otherwise you should be ready to proceed.

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\input{common_rescue/return_points}

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\subsection{Assignment 1 (check off) - Run the Vehicle on the Water}

To complete this assignment, you will need another ready team to
compete against.

\vspace{0.1in}
\noindent
If there is no second team at the moment, you can use your team's
second PABLO box and run a competition between lab partners. In this
case, presumably it will be a completely even 50-50 chance of win if
you are both using the same code.

\vspace{0.1in}
\noindent
Save your alog files. We would like to have the alog files from each robot
that ran a successful mission. When you are done with the robot, please
save your alog file in your \var{moos-ivp-extend} tree per the instructions
in Section \ref{sec_hand_in}.


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\newpage \section{Instructions for Handing In Assignments}
%=======================================================================

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\subsection{Requested File Structure}
\label{sec_hand_in}

The assignment for this lab is to (a) demonstrate a working mission
on the Heron in a two-vehicle competition. (b) save your alog files.

\vspace{0.1in}
\begin{consoleverb}
  moos-ivp-extend/
     src/
        pGenRescue
     missions/
        may0224/
          (your alog files)
\end{consoleverb}
\vspace{0.1in}

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\subsection{Due Date}

This lab should be completed by the end of day Thursday, May 1st,
2025, but make up days may be available the following week.

\end{document}

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