An overview of the MOOS middleware and the style of structuring a
software system as a set of independent, ansynchronous communicating
software modules. The MOOS robot middleware architecture is introduced
and the publish/subscribe paradigm. Inter-process communication is
discussed along with methods for message serialization and
de-serialization. Students will be introduced to methods for scoping
(monitoring) data in a live mission, as well as poking (writing) data
through bothe command-line interface (CLI) and through a
command-and-control(C2) GUI. A reference mission will be discussed
in detail to describe how a full autonomy simulation can be comprised
of distinct inter-related modules.

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\noindent
Component Learning objectives addressed:

\begin{packed_itemize}
\item Primary robot system components
\item Robot middleware
\item Software communities
\item Simulation
\item Data injection and scoping
\end{packed_itemize}
