MOOS-IvP Autonomy Tools Users Manual

MOOS-IvP Autonomy Tools Users Manual
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MOOS-IvP 自治工具用户手册

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发表时间：
2010
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通讯作者：
M. Benjamin
M. Benjamin
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作者：
M. Benjamin

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本文档描述了 15 个 MOOS-IvP 自治工具。 uHelmScope 提供了一个运行时范围窗口，用于了解执行其任务的活动 IvP Helm 的状态。 pMarineViewer 是一种基于地理的 GUI 工具，用于渲染海洋车辆及其操作区域中的几何数据。 uXMS 是一个基于终端的工具，用于确定 MOOSDB 进程的范围。 uTermCommand 是一个基于终端的工具，用于使用一组 MOOS 文件预定义变量值对（可通过命令行选择别名）来访问 MOOSDB。 pEchoVar 提供了一种将帖子回显到一个 MOOS 变量的方法，其中新帖子对不同的变量具有相同的值。 uProcessWatch 监视一组 MOOS 进程是否存在，并在单个 MOOS 变量中汇总集体状态。 uPokeDB 提供了一种从命令行使用一个或多个变量值对来访问 MOOSDB 的方法，而无需任何预先存在的 MOOS 文件配置。 uTimerScript 将执行预定义的定时暂停脚本，将变量值对插入 MOOSDB。 pNodeReporter 将平台关键信息汇总为单个节点报告字符串，以便在车辆之外共享。 pBasicContactMgr 提供基本的联系人管理服务，能够生成与范围相关的可配置警报。 Alog Toolbox 是一组用于分析和操作 .alog 格式日志文件的离线工具。批准公开发布；分发不受限制。这项工作是罗德岛州纽波特海军水下作战中心先进系统技术中心 (CAST)（代码 2501）、马萨诸塞州剑桥麻省理工学院机械工程系和计算机科学与人工智能实验室 (CSAIL) 以及牛津大学移动机器人小组多年合作的成果。合作者联系方式： Dr. Michael R. Benjamin 高级系统技术中心 NUWC 分部 罗德岛州纽波特 Michael.R.Benjamin@navy.mil mikerb@csail.mit.edu John J. Leonard 教授 机械工程系 计算机科学与人工智能实验室 马萨诸塞理工学院 jleonard@csail.mit.edu Henrik Schmidt 教授 机械系 工程 马萨诸塞理工学院 henrik@mit.edu Paul Newman 博士 牛津大学工程科学系 pnewman@robots.ox.ac.uk 其他合作者为软件和想法的开发和测试做出了巨大贡献，特别是 Joseph Curcio、Don Eickstedt、Andrew Patrikilakis、Toby Schneider、Arjuna Balasuriya、David Battle、Christian Convey、Chris 加格纳、安德鲁·谢弗和凯文·科克雷尔。赞助和公开发布信息：本工作由海军研究办公室 (ONR) (代码 311) 的 Behzad Kamgar-Parsi 博士和 Don Wagner 博士赞助。有关本文件海军公开发布批准的信息可以从罗德岛州纽波特分部海军水下作战中心的技术图书馆获得。
This document describes fifteen MOOS-IvP autonomy tools. uHelmScope provides a runtime scoping window into the state of an active IvP Helm executing its mission. pMarineViewer is a geo-based GUI tool for rendering marine vehicles and geometric data in their operational area. uXMS is a terminal based tool for scoping on a MOOSDB process. uTermCommand is a terminal based tool for poking a MOOSDB with a set of MOOS file pre-defined variable-value pairs selectable with aliases from the command-line. pEchoVar provides a way of echoing a post to one MOOS variable with a new post having the same value to a different variable. uProcessWatch monitors the presence or absence of a set of MOOS processes and summarizes the collective status in a single MOOS variable. uPokeDB provides a way of poking the MOOSDB from the command line with one or more variable-value pairs without any pre-existing configuration of a MOOS file. uTimerScript will execute a pre-defined timed pausable script of poking variable-value pairs to a MOOSDB. pNodeReporter summarizes a platforms critical information into a single node report string for sharing beyond the vehicle. pBasicContactMgr provides a basic contact management service with the ability to generate range-dependent configurable alerts. The Alog Toolbox is a set of offline tools for analyzing and manipulating log files in the .alog format. Approved for public release; Distribution is unlimited. This work is the product of a multi-year collaboration between the Center for Advanced System Technologies (CAST), Code 2501, of the Naval Undersea Warfare Center in Newport Rhode Island and the Department of Mechanical Engineering and the Computer Science and Artificial Intelligence Laboratory (CSAIL) at the Massachusetts Institute of Technology in Cambridge Massachusetts, and the Oxford University Mobile Robotics Group. Points of contact for collaborators: Dr. Michael R. Benjamin Center for Advanced System Technologies NUWC Division Newport Rhode Island Michael.R.Benjamin@navy.mil mikerb@csail.mit.edu Prof. John J. Leonard Department of Mechanical Engineering Computer Science and Artificial Intelligence Laboratory Massachusetts Intitute of Technology jleonard@csail.mit.edu Prof. Henrik Schmidt Department of Mechanical Engineering Massachusetts Intitute of Technology henrik@mit.edu Dr. Paul Newman Department of Engineering Science University of Oxford pnewman@robots.ox.ac.uk Other collaborators have contributed greatly to the development and testing of software and ideas within, notably Joseph Curcio, Don Eickstedt, Andrew Patrikilakis, Toby Schneider, Arjuna Balasuriya, David Battle, Christian Convey, Chris Gagner, Andrew Shafer, and Kevin Cockrell. Sponsorship, and public release information: This work is sponsored by Dr. Behzad Kamgar-Parsi and Dr. Don Wagner of the Office of Naval Research (ONR), Code 311. Information on Navy public release approval for this document can be obtained from the Technical Library at the Naval Undersea Warfare Center, Division Newport RI.