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zhaojingkui
2025-08-12 10:42:30 +08:00
parent fb6874c1e5
commit 71b44dc6b0
15 changed files with 746 additions and 61 deletions
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15
missions/alpha/alpha_shoreside.moos
View File

@@ -29,15 +29,17 @@ ProcessConfig = pShare
CommsTick = 10
input = route = localhost:8085
output = src_name=APPCAST_REQ, route=192.168.0.101:8082
output = src_name=APPCAST_REQ, route=192.168.1.200:8082
//输出有两个端口，8081和8082，选择用1或者2
//发送消息看以下格式
//output = src_name=Y, dest_name=B, route=host:port
output = src_name=uMission_action_cmd,route=192.168.0.101:8082
output = src_name=DEPLOY, route=192.168.0.101:8082
output = src_name=RETURN, route=192.168.0.101:8082
output = src_name=MOOS_MANUAL_OVERIDE, route=192.168.0.101:8082
output = src_name=uMission_action_cmd,route=192.168.1.200:8082
output = src_name=DEPLOY, route=192.168.1.200:8082
output = src_name=RETURN, route=192.168.1.200:8082
output = src_name=MOOS_MANUAL_OVERIDE, route=192.168.1.200:8082
output = src_name=PZ, route=192.168.1.200:8082
output = src_name=LED, route=192.168.1.200:8082
}
//------------------------------------------
@@ -89,6 +91,9 @@ ProcessConfig = pMarineViewer
BUTTON_ONE = DEPLOY # DEPLOY=true
BUTTON_ONE = MOOS_MANUAL_OVERIDE=false # RETURN=false
BUTTON_TWO = RETURN # RETURN=true
BUTTON_Three = PZ # PZ=true
BUTTON_Four = LED # LED=on
}
//------------------------------------------

4
missions/alpha/alpha_vehicle.moos
View File

@@ -36,7 +36,7 @@ ProcessConfig = pShare
//路径点信息
//output = src_name = VIEW*, route = 192.168.137.7:8085
output = src_name = *, route = 192.168.137.7:8085
output = src_name = *, route = 192.168.1.100:8085
//调试端输入端口
input = route = localhost:8082
}
@@ -104,7 +104,7 @@ ProcessConfig = pAUV150
//server_host = 10.127.0.18
//server_host = 127.0.0.1
server_host = 192.168.137.1
server_host = 192.168.1.88
//LatOrigin = 43.825300
//LongOrigin = -70.330400