Pre-lab assumptions
  - you have a laptop and training kit
  - you have download and built the course autonomy software and run Alpha
  - you are able to log into the RasPi, and the PocketBeagle
  - You have reviewed the basic hardware components of the SB2 AUV
  - You are able to run the command-line scripts to access sensors and
    actuators

Lab goals

Concepts I: Robot Middleware
  - Monolithic Apps vs Modular apps
  - Robot middleware generally
  - MOOS pub/sub and frequency

Exercises I:
  - Run MOOSDB, uXMS and poke the DB
  


Concepts II: autonomy
  - Sense-plan-act
  - SPA for an AUV
  - SPA for alpha mission

Exercises II:
  - Run Alpha mission, poke DEPLOY=false in the terminal
  - Experiment with pRealm to see I/O
  - Change the waypoints


Concepts III: Mission launching
  - Simulation (Swap Nav/Control/Actuation)
  - 
  


Lab 04 Robot Software