//==================================================================== module = iAHRS type = MOOS App author = David Battle contact = david.battle@missionsystems.com.au org = Mission Systems Pty Ltd thumb = A driver for the MicroStrain 3DM-GX1 AHRS unit. synopsis = iAHRS is a driver for the MicroStrain 3DM-GX1 AHRS unit and is based on the earlier Crossbow AHRS driver (iINS) written by Paul Newman. NB: I have made a particular effort to retain as many of the conventions of the original Crossbow driver as possible to save confusion. distro = TBD group = Mission Systems, Drivers, Sensors doc_url = https://github.com/mission-systems-pty-ltd //==================================================================== module = pAcommsSim type = MOOS App author = David Battle contact = david.battle@missionsystems.com.au org = Mission Systems Pty Ltd depends = NVIDIA Optix 5.1.1, NVIDIA CUB 1.8.0, Arrayfire 3.6.2, CUDA 10.2, Morse, JSON for modern C++ thumb = a GPU-accelerated multi-vehicle acomms simulator synopsis = pAcommsSim is a GPU-accelerated multi-vehicle acoustic communications simulator intended for shallow water, iso-velocity waveguides and general 3D bathymetry. The simulator uses Gaussian beams and straight-ray propagation to compute 3D range-dependent CW transmission losses and time-domain responses between swarms of underwater nodes. The simulator publishes time-domain responses and normalised channel impulse responses via binary and JSON message formats respectively with a configurable number of arrivals. pAcommsSim is designed to work with the MORSE robotics simulator in conjunction with Mission Systems customisations and an NVIDIA GPU. Future enhancements will include a configurable dynamic sea surface, per-ray Doppler shift for mobile nodes, and arbitrary 3-D sound speed profiles using piecewise-constant approximations. distro = TBD group = Mission Systems, Simulation, Communications doc_url = https://github.com/mission-systems-pty-ltd //==================================================================== module = pCamera type = MOOS App author = David Battle contact = david.battle@missionsystems.com.au org = Mission Systems Pty Ltd depends = OpenCV, Morse thumb = A MOOS video display application synopsis = pCamera is a simple application that subscribes to binary rgba frames and displays them using OpenCV. Currently, we use straight binary encoding for the images, but in the future will be switching to Cap'n-Proto serialisation and giving the option for grey-scale formats etc as well as using a proper header structure with each message (probably emulating the existing ROS message format). distro = TBD group = Mission Systems, Drivers, Sensors, Visualization doc_url = https://github.com/mission-systems-pty-ltd //==================================================================== module = pSSView type = MOOS App author = David Battle contact = david.battle@missionsystems.com.au org = Mission Systems Pty Ltd depends = libSDL2, pSonarSim, Morse thumb = A viewer for the pSonarSim application synopsis = pSSView is a viewer for the pSonarSim application that uses the SDL2 library to plot simulated sidescan data in a continuously scrolling waterfall format. Block gain and time-varying gain are set via the MOOS configuration block. Messages are currently straight binary, but will be transitioning to Cap'n proto in the next release. Displayed intensities are scaled in dB. distro = TBD group = Mission Systems, Simulation, Visualization doc_url = https://github.com/mission-systems-pty-ltd //==================================================================== module = pLidarSim type = MOOS App author = David Battle contact = david.battle@missionsystems.com.au org = Mission Systems Pty Ltd depends = NVIDIA Optix 5.1.1, Arrayfire 3.6.2, CUDA 10.2, Morse thumb = GPU-accelerated lidar simulator synopsis = pLidarSim is a GPU-accelerated lidar simulator capable of handling complex scenes, dynamic objects, surface textures and large numbers of beams from multiple lidars in real-time. Currently, the simulated point data is sent as 64-bit binary PCL PointXYZRGBA values with no header. pLidarSim requires the use of Mission Systems customisations to the Morse Modular Open Robots Simulation Engine to replicate the game engine scenegraph in GPU memory. distro = TBD group = Mission Systems, Sensors, Simulation doc_url = https://github.com/mission-systems-pty-ltd //==================================================================== module = pSonarSim type = MOOS App author = David Battle contact = david.battle@missionsystems.com.au org = Mission Systems Pty Ltd depends = NVIDIA Optix 5.1.1, NVIDIA CUB 1.8.0, Arrayfire 3.6.2, CUDA 10.2, Morse, JSON for modern C++ thumb = GPU-accelerated sonar sim to predict time-domain sonar returns synopsis = pSonarSim is a GPU-accelerated sonar simulator which uses Gaussian beam theory to predict the time-domain sonar returns from complex objects in the water column (including arbitrary 3-D bottom meshes). pSonarsim supports a range of bottom types via both image-based and procedural texturing and configurable reflection coefficients. 3-D objects of arbitrary complexity can be positioned on the bottom (currently this is done by the Blender Game Engine, but we are anticipating an Unreal Engine 4 transition path in the near future) pSonarSim produces a variety of outputs in both JSON and straight binary formats, depending on the configuration block settings. distro = TBD group = Mission Systems, Sensors, Simulation doc_url = https://github.com/mission-systems-pty-ltd //==================================================================== module = pCloud type = MOOS App author = David Battle contact = david.battle@missionsystems.com.au org = Mission Systems Pty Ltd depends = PCL 1.8.0, JSON for modern C++ thumb = MOOS App for displaing real and simulated point cloud data synopsis = pCloud is a MOOS app which uses the PCL library to display real and simulated point cloud data in a variety of formats in real time. The number of point clouds displayed simulataneously is set via the configuration block. When used with Mission Systems Morse customisations, the view point can be arranged to track the currently selected Morse camera. distro = TBD group = Mission Systems, Sensors, Visualization doc_url = https://github.com/mission-systems-pty-ltd //==================================================================== module = iPX4 type = MOOS App author = David Battle contact = david.battle@missionsystems.com.au org = Mission Systems Pty Ltd depends = PX4 software thumb = MOOS interface to PX4 control software synopsis = iPX4 is a MOOS interface to the popular PX4 control software which can operate in both real and simulation (SITL) modes via either serial or UDP communications. Among other things, iPX4 generates standard MOOS NAV messages based on PX4 Mavlink telemetry data and is also capable of commanding the PX4 controller in offboard (backseat) mode to implement full MOOS-IvP autonomy on air platforms. distro = TBD group = Mission Systems, Drivers doc_url = https://github.com/mission-systems-pty-ltd //==================================================================== module = pMavlink type = MOOS App author = David Battle contact = david.battle@missionsystems.com.au org = Mission Systems Pty Ltd depends = Mavlink, JSON for modern C++ thumb = Translation layer between MOOS and PX4 software synopsis = pMavlink is a translation layer between MOOS and PX4 software which is used in conjunction with iPX4 to handle Mavlink data streams. distro = TBD group = Mission Systems, Drivers doc_url = https://github.com/mission-systems-pty-ltd //==================================================================== module = pOctree type = MOOS App author = David Battle contact = david.battle@missionsystems.com.au org = Mission Systems Pty Ltd depends = PCL 1.8.0 thumb = Convert real or simulated point cloud data into 3-D maps synopsis = pOctree uses PCL octree functionality to turn either real or simulated point-cloud data into 3-D maps. In addition to optionally displaying the Octree structure at a selected level, it uses PCL ray-casting functionality to do fast spatial querying to determine the proximity of previously detected objects in given directions. distro = TBD group = Mission Systems, Sensors doc_url = https://github.com/mission-systems-pty-ltd //==================================================================== module = pRealSense type = MOOS App author = David Battle contact = david.battle@missionsystems.com.au org = Mission Systems Pty Ltd depends = OpenCV, PCL 1.8.0, librealsense2 thumb = Realsense depth camera MOOS driver for MOOS. synopsis = iRealSense is a Realsense depth camera driver for MOOS capable of capturing both imagery and point clouds. Multiple cameras are supported by specifying serial numbers for hardware in each MOOS configuration block. distro = TBD group = Mission Systems, Drivers doc_url = https://github.com/mission-systems-pty-ltd //==================================================================== module = pGridViewer type = MOOS App author = David Battle contact = david.battle@missionsystems.com.au org = Mission Systems Pty Ltd depends = PCL 1.8.0 thumb = A MOOS viewer for Octree structures constructed from real or simulated point cloud data. synopsis = pGridViewer is a MOOS viewer for Octree structures constructed from real or simulated point cloud data. To display very large maps, pGridViewer dynamically adjusts the displayed level to achieve a configurable minimum frame rate. When used with Mission Systems Morse customisations, the view point can be arranged to track the currently selected camera. Unlike pOctree, pGridViewer does not support spatial queries. distro = TBD group = Mission Systems, Visualization, Simulation doc_url = https://github.com/mission-systems-pty-ltd