8.12
This commit is contained in:
94
missions/auv150/alpha.bhv
Normal file
94
missions/auv150/alpha.bhv
Normal file
@@ -0,0 +1,94 @@
|
||||
//-------- FILE: alpha.bhv -------------
|
||||
|
||||
initialize DEPLOY = false
|
||||
initialize RETURN = false
|
||||
|
||||
//----------------------------------------------
|
||||
Behavior = BHV_Waypoint
|
||||
{
|
||||
name = waypt_survey
|
||||
pwt = 100
|
||||
condition = RETURN = false
|
||||
condition = DEPLOY = true
|
||||
endflag = RETURN = true
|
||||
|
||||
configflag = CRUISE_SPD = $[SPEED]
|
||||
//configflag = OSPOS = $[OSX],$[OSY]
|
||||
|
||||
activeflag = INFO=$[OWNSHIP]
|
||||
activeflag = INFO=$[BHVNAME]
|
||||
activeflag = INFO=$[BHVTYPE]
|
||||
|
||||
cycleflag = CINFO=$[OSX],$[OSY]
|
||||
|
||||
wptflag = PREV=$(PX),$(PY)
|
||||
wptflag = NEXT=$(NX),$(NY)
|
||||
wptflag = TEST=$(X),$(Y)
|
||||
wptflag = OSPOS=$(OSX),$(OSY)
|
||||
wptflag_on_start = true
|
||||
|
||||
updates = WPT_UPDATE
|
||||
perpetual = true
|
||||
|
||||
speed_alt = 1.2
|
||||
use_alt_speed = true
|
||||
lead = 8
|
||||
lead_damper = 1
|
||||
lead_to_start = true
|
||||
speed = 12 // meters per second
|
||||
capture_line = true
|
||||
capture_radius = 5.0
|
||||
slip_radius = 15.0
|
||||
efficiency_measure = all
|
||||
|
||||
// points = pts={107.5,-53.5:112,-43.8:112,-46.1:111.7,-49.3:108.3,-52.7:107.7,-53.3}
|
||||
polygon = 60,-40 : 60,-160 : 150,-160 : 180,-100 : 150,-40
|
||||
|
||||
order = normal
|
||||
//repeat = 100000
|
||||
repeat = 3
|
||||
|
||||
visual_hints = nextpt_color=yellow
|
||||
visual_hints = nextpt_vertex_size=8
|
||||
visual_hints = nextpt_lcolor=gray70
|
||||
visual_hints = vertex_color=dodger_blue, edge_color=white
|
||||
visual_hints = vertex_size=5, edge_size=1
|
||||
}
|
||||
|
||||
//----------------------------------------------
|
||||
Behavior=BHV_Waypoint
|
||||
{
|
||||
name = waypt_return
|
||||
pwt = 100
|
||||
condition = RETURN = true
|
||||
condition = DEPLOY = true
|
||||
condition = ((DEPLoy = true) or (alpha = one)) or (bravo = two)
|
||||
perpetual = true
|
||||
updates = RETURN_UPDATE
|
||||
endflag = RETURN = false
|
||||
endflag = DEPLOY = false
|
||||
endflag = MISSION = complete
|
||||
|
||||
speed = 2.0
|
||||
capture_radius = 2.0
|
||||
slip_radius = 8.0
|
||||
points = 0,-20
|
||||
}
|
||||
|
||||
//----------------------------------------------
|
||||
Behavior=BHV_ConstantSpeed
|
||||
{
|
||||
name = const_speed
|
||||
pwt = 200
|
||||
condition = SPD=true
|
||||
condition = DEPLOY = true
|
||||
perpetual = true
|
||||
updates = SPEED_UPDATE
|
||||
endflag = SPD = false
|
||||
|
||||
speed = 0.5
|
||||
duration = 10
|
||||
duration_reset = CONST_SPD_RESET=true
|
||||
|
||||
}
|
||||
|
||||
124
missions/auv150/alpha_shoreside.moos
Normal file
124
missions/auv150/alpha_shoreside.moos
Normal file
@@ -0,0 +1,124 @@
|
||||
// Alder mission file
|
||||
ServerHost = localhost
|
||||
ServerPort = 9000
|
||||
Community = alpha
|
||||
MOOSTimeWarp = 1
|
||||
|
||||
LatOrigin = 43.825300
|
||||
LongOrigin = -70.330400
|
||||
|
||||
//------------------------------------------
|
||||
// Antler config block
|
||||
ProcessConfig = ANTLER
|
||||
{
|
||||
MSBetweenLaunches = 200
|
||||
|
||||
Run = MOOSDB @ NewConsole = false
|
||||
//Run = pLogger @ NewConsole = false
|
||||
Run = pMarineViewer @ NewConsole = false
|
||||
//Run = uProcessWatch @ NewConsole = false
|
||||
RUn = pShare @ NewConsole = false
|
||||
}
|
||||
|
||||
//------------------------------------------
|
||||
// pShare config block
|
||||
|
||||
ProcessConfig = pShare
|
||||
{
|
||||
AppTick = 10
|
||||
CommsTick = 10
|
||||
|
||||
input = route = localhost:8085
|
||||
output = src_name=APPCAST_REQ, route=192.168.1.200:8082
|
||||
|
||||
//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=192.168.1.200:8082
|
||||
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
|
||||
//output = src_name = *, route=192.168.1.200:8082
|
||||
}
|
||||
|
||||
//------------------------------------------
|
||||
// uProcessWatch config block
|
||||
|
||||
ProcessConfig = uProcessWatch
|
||||
{
|
||||
AppTick = 4
|
||||
CommsTick = 4
|
||||
|
||||
summary_wait = 5
|
||||
|
||||
nowatch = uXMS*
|
||||
nowatch = uMAC*
|
||||
nowatch = uPokeDB*
|
||||
nowatch = uQueryDB*
|
||||
nowatch = uTermCommand*
|
||||
watch_all = true
|
||||
}
|
||||
|
||||
//------------------------------------------
|
||||
// pMarineViewer config block
|
||||
|
||||
ProcessConfig = pMarineViewer
|
||||
{
|
||||
AppTick = 4
|
||||
CommsTick = 4
|
||||
|
||||
TIFF_FILE = forrest19.tif
|
||||
set_pan_x = -90
|
||||
set_pan_y = -280
|
||||
zoom = 1
|
||||
vehicle_shape_scale = 1.5
|
||||
hash_delta = 50
|
||||
hash_shade = 0.4
|
||||
hash_viewable = true
|
||||
|
||||
scope = ODOMETRY_DIST
|
||||
|
||||
// Appcast configuration
|
||||
appcast_height = 75
|
||||
appcast_width = 30
|
||||
appcast_viewable = true
|
||||
appcast_color_scheme = indigo
|
||||
nodes_font_size = medium
|
||||
procs_font_size = medium
|
||||
appcast_font_size = small
|
||||
|
||||
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
|
||||
|
||||
cmd = label=MANUAL_FALSE, var=MOOS_MANUAL_OVERIDE, sval=false, receivers=auv150
|
||||
cmd = label=MANUAL_TRUE, var=MOOS_MANUAL_OVERIDE, sval=true, receivers=auv150
|
||||
}
|
||||
|
||||
//------------------------------------------
|
||||
// pLogger config block
|
||||
|
||||
ProcessConfig = pLogger
|
||||
{
|
||||
AppTick = 10
|
||||
CommsTick = 10
|
||||
|
||||
File = XLOG_SHORESIDE
|
||||
PATH = ./
|
||||
SyncLog = true @ 0.2
|
||||
AsyncLog = true
|
||||
FileTimeStamp = true
|
||||
|
||||
LogAuxSrc = true
|
||||
|
||||
// Log it all!!!!!
|
||||
WildCardLogging = true
|
||||
|
||||
WildCardOmitPattern = *_STATUS
|
||||
WildCardOmitPattern = DB_VARSUMMARY
|
||||
WildCardOmitPattern = DB_RWSUMMARY
|
||||
}
|
||||
134
missions/auv150/alpha_vehicle.moos
Normal file
134
missions/auv150/alpha_vehicle.moos
Normal file
@@ -0,0 +1,134 @@
|
||||
// Alder mission file
|
||||
ServerHost = localhost
|
||||
ServerPort = 9000
|
||||
Community = auv150
|
||||
MOOSTimeWarp = 1
|
||||
|
||||
LatOrigin = $(LatOrigin)
|
||||
LongOrigin = $(LongOrigin)
|
||||
|
||||
//------------------------------------------
|
||||
// Antler config block
|
||||
ProcessConfig = ANTLER
|
||||
{
|
||||
MSBetweenLaunches = 200
|
||||
|
||||
Run = MOOSDB @ NewConsole = false
|
||||
Run = pNodeReporter @ NewConsole = false
|
||||
//Run = pLogger @ NewConsole = false
|
||||
Run = uProcessWatch @ NewConsole = false
|
||||
Run = pHelmIvP @ NewConsole = false
|
||||
Run = pAUV150 @ NewConsole = false
|
||||
Run = pShare @ NewConsole = false
|
||||
}
|
||||
|
||||
//------------------------------------------
|
||||
// pShare config block
|
||||
|
||||
ProcessConfig = pShare
|
||||
{
|
||||
AppTick = 10
|
||||
CommsTick = 10
|
||||
//UUV 信息
|
||||
//output = src_name = NODE_REPORT*, route = 192.168.137.7:8085
|
||||
//App 信息
|
||||
//output = src_name = APPCAST*, route = 192.168.137.7:8085
|
||||
//路径点信息
|
||||
//output = src_name = VIEW*, 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
|
||||
}
|
||||
|
||||
//------------------------------------------
|
||||
// uProcessWatch config block
|
||||
|
||||
ProcessConfig = uProcessWatch
|
||||
{
|
||||
AppTick = 4
|
||||
CommsTick = 4
|
||||
|
||||
summary_wait = 5
|
||||
|
||||
nowatch = uXMS*
|
||||
nowatch = uMAC*
|
||||
nowatch = uPokeDB*
|
||||
nowatch = uQueryDB*
|
||||
nowatch = uTermCommand*
|
||||
watch_all = true
|
||||
}
|
||||
|
||||
//------------------------------------------
|
||||
// pHelmIvP config block
|
||||
|
||||
ProcessConfig = pHelmIvP
|
||||
{
|
||||
AppTick = 4
|
||||
CommsTick = 4
|
||||
|
||||
Behaviors = gly_1.bhv
|
||||
Verbose = quiet
|
||||
Domain = course:0:359:360
|
||||
Domain = speed:0:4:21
|
||||
Domain = depth:0:100:101
|
||||
|
||||
//IVP_BEHAVIOR_DIR = ../../lib
|
||||
|
||||
ok_skew = any
|
||||
start_in_drive = false
|
||||
}
|
||||
|
||||
//------------------------------------------
|
||||
// pNodeReporter config block
|
||||
|
||||
ProcessConfig = pNodeReporter
|
||||
{
|
||||
AppTick = 2
|
||||
CommsTick = 2
|
||||
|
||||
platform_length = 2 // meters
|
||||
//platform_beam = 0.2 // meters
|
||||
platform_type = auv
|
||||
platform_color = dodger_blue
|
||||
//vessel_type = auv
|
||||
}
|
||||
|
||||
//------------------------------------------
|
||||
// pAUV150 config block
|
||||
|
||||
ProcessConfig = pAUV150
|
||||
{
|
||||
AppTick = 10
|
||||
CommsTick = 10
|
||||
|
||||
server_host = $(server_host)
|
||||
LatOrigin = $(LatOrigin)
|
||||
LongOrigin = $(LongOrigin)
|
||||
|
||||
ControlFrequency = 10
|
||||
}
|
||||
|
||||
//------------------------------------------
|
||||
// pLogger config block
|
||||
|
||||
ProcessConfig = pLogger
|
||||
{
|
||||
AppTick = 10
|
||||
CommsTick = 10
|
||||
|
||||
File = XLOG_SHORESIDE
|
||||
PATH = ./
|
||||
SyncLog = true @ 0.2
|
||||
AsyncLog = true
|
||||
FileTimeStamp = true
|
||||
|
||||
LogAuxSrc = true
|
||||
|
||||
// Log it all!!!!!
|
||||
WildCardLogging = true
|
||||
|
||||
WildCardOmitPattern = *_STATUS
|
||||
WildCardOmitPattern = DB_VARSUMMARY
|
||||
WildCardOmitPattern = DB_RWSUMMARY
|
||||
}
|
||||
74
missions/auv150/gly_1.bhv
Normal file
74
missions/auv150/gly_1.bhv
Normal file
@@ -0,0 +1,74 @@
|
||||
//-------- FILE: gly_1.bhv -------------
|
||||
|
||||
initialize DEPLOY = false
|
||||
initialize RETURN = false
|
||||
|
||||
//----------------------------------------------
|
||||
Behavior = BHV_Waypoint
|
||||
{
|
||||
name = waypt_survey
|
||||
pwt = 100
|
||||
condition = RETURN = false
|
||||
condition = DEPLOY = true
|
||||
//endflag = RETURN = true
|
||||
endflag = MISSION = complete
|
||||
|
||||
configflag = CRUISE_SPD = $[SPEED]
|
||||
//configflag = OSPOS = $[OSX],$[OSY]
|
||||
|
||||
activeflag = INFO=$[OWNSHIP]
|
||||
activeflag = INFO=$[BHVNAME]
|
||||
activeflag = INFO=$[BHVTYPE]
|
||||
|
||||
cycleflag = CINFO=$[OSX],$[OSY]
|
||||
|
||||
wptflag = PREV=$(PX),$(PY)
|
||||
wptflag = NEXT=$(NX),$(NY)
|
||||
wptflag = TEST=$(X),$(Y)
|
||||
wptflag = OSPOS=$(OSX),$(OSY)
|
||||
wptflag_on_start = true
|
||||
|
||||
updates = WPT_UPDATE
|
||||
// perpetual = true
|
||||
|
||||
speed_alt = 1.2
|
||||
use_alt_speed = true
|
||||
lead = 8
|
||||
lead_damper = 1
|
||||
lead_to_start = true
|
||||
speed = 2 // meters per second
|
||||
capture_line = true
|
||||
capture_radius = 5.0
|
||||
slip_radius = 15.0
|
||||
efficiency_measure = all
|
||||
|
||||
// points = pts={107.5,-53.5:112,-43.8:112,-46.1:111.7,-49.3:108.3,-52.7:107.7,-53.3}
|
||||
// polygon = -50,-100: -50,-300: 25, -300: 25, -100: 100, -100: 100, -300: 175, -300: 175, -100
|
||||
polygon = -50,-100: 0,-300: 50, -287.5: 0, -87.5: 50, -75: 100, -275: 150, -262.5: 100, -62.5
|
||||
// polygon = -50,-100: -50,-170.71: 0,-220.71: 70.71,-220.71: 120.71,-170.71: 120.71,-100: 70.71,-50: 0,-50: -50,-100
|
||||
// polygon = -50,-100: -50,-300
|
||||
order = normal
|
||||
repeat = 0
|
||||
|
||||
visual_hints = nextpt_color=yellow
|
||||
visual_hints = nextpt_vertex_size=8
|
||||
visual_hints = nextpt_lcolor=gray70
|
||||
visual_hints = vertex_color=dodger_blue, edge_color=white
|
||||
visual_hints = vertex_size=5, edge_size=1
|
||||
}
|
||||
|
||||
//----------------------------------------------
|
||||
Behavior = BHV_ConstantDepth
|
||||
{
|
||||
name = bhv_const_depth
|
||||
pwt = 100
|
||||
condition = DEPLOY = true
|
||||
perpetual = true
|
||||
updates = DEPTH_VALUE
|
||||
|
||||
depth = 2
|
||||
duration = no-time-limit
|
||||
peakwidth = 8
|
||||
basewidth = 12
|
||||
summitdelta = 10
|
||||
}
|
||||
74
missions/auv150/gly_2.bhv
Normal file
74
missions/auv150/gly_2.bhv
Normal file
@@ -0,0 +1,74 @@
|
||||
//-------- FILE: gly_1.bhv -------------
|
||||
|
||||
initialize DEPLOY = false
|
||||
initialize RETURN = false
|
||||
|
||||
//----------------------------------------------
|
||||
Behavior = BHV_Waypoint
|
||||
{
|
||||
name = waypt_survey
|
||||
pwt = 100
|
||||
condition = RETURN = false
|
||||
condition = DEPLOY = true
|
||||
//endflag = RETURN = true
|
||||
endflag = MISSION = complete
|
||||
|
||||
configflag = CRUISE_SPD = $[SPEED]
|
||||
//configflag = OSPOS = $[OSX],$[OSY]
|
||||
|
||||
activeflag = INFO=$[OWNSHIP]
|
||||
activeflag = INFO=$[BHVNAME]
|
||||
activeflag = INFO=$[BHVTYPE]
|
||||
|
||||
cycleflag = CINFO=$[OSX],$[OSY]
|
||||
|
||||
wptflag = PREV=$(PX),$(PY)
|
||||
wptflag = NEXT=$(NX),$(NY)
|
||||
wptflag = TEST=$(X),$(Y)
|
||||
wptflag = OSPOS=$(OSX),$(OSY)
|
||||
wptflag_on_start = true
|
||||
|
||||
updates = WPT_UPDATE
|
||||
// perpetual = true
|
||||
|
||||
speed_alt = 1.2
|
||||
use_alt_speed = true
|
||||
lead = 8
|
||||
lead_damper = 1
|
||||
lead_to_start = true
|
||||
speed = 2 // meters per second
|
||||
capture_line = true
|
||||
capture_radius = 5.0
|
||||
slip_radius = 15.0
|
||||
efficiency_measure = all
|
||||
|
||||
// points = pts={107.5,-53.5:112,-43.8:112,-46.1:111.7,-49.3:108.3,-52.7:107.7,-53.3}
|
||||
// polygon = -50,-100: -50,-300: 25, -300: 25, -100: 100, -100: 100, -300: 175, -300: 175, -100
|
||||
polygon = -50,-100: 0,-300: 50, -287.5: 0, -87.5: 50, -75: 100, -275: 150, -262.5: 100, -62.5
|
||||
// polygon = -50,-100: -50,-170.71: 0,-220.71: 70.71,-220.71: 120.71,-170.71: 120.71,-100: 70.71,-50: 0,-50: -50,-100
|
||||
// polygon = -50,-100: -50,-300
|
||||
order = normal
|
||||
repeat = 0
|
||||
|
||||
visual_hints = nextpt_color=yellow
|
||||
visual_hints = nextpt_vertex_size=8
|
||||
visual_hints = nextpt_lcolor=gray70
|
||||
visual_hints = vertex_color=dodger_blue, edge_color=white
|
||||
visual_hints = vertex_size=5, edge_size=1
|
||||
}
|
||||
|
||||
//----------------------------------------------
|
||||
Behavior = BHV_ConstantDepth
|
||||
{
|
||||
name = bhv_const_depth
|
||||
pwt = 100
|
||||
condition = DEPLOY = true
|
||||
perpetual = true
|
||||
updates = DEPTH_VALUE
|
||||
|
||||
depth = 2
|
||||
duration = no-time-limit
|
||||
peakwidth = 8
|
||||
basewidth = 12
|
||||
summitdelta = 10
|
||||
}
|
||||
39
missions/auv150/kill.sh
Executable file
39
missions/auv150/kill.sh
Executable file
@@ -0,0 +1,39 @@
|
||||
#!/bin/bash -e
|
||||
|
||||
# 查找并杀死由launch.sh启动的进程
|
||||
# 假设launch.sh启动的进程包含特定的标识符，比如mission名称
|
||||
|
||||
# 定义进程标识符（根据实际launch.sh启动的程序进行调整）
|
||||
#!/bin/bash -e
|
||||
|
||||
# Kill all processes launched by launch.sh
|
||||
|
||||
echo "Killing AUV150 mission processes..."
|
||||
|
||||
# Kill processes by name patterns
|
||||
pkill -f "pAntler.*targ_vehicle.moos" 2>/dev/null || true
|
||||
pkill -f "uMAC.*targ_vehicle.moos" 2>/dev/null || true
|
||||
pkill -f "pNodeReporter" 2>/dev/null || true
|
||||
pkill -f "uProcessWatch" 2>/dev/null || true
|
||||
pkill -f "pHelmIvP" 2>/dev/null || true
|
||||
pkill -f "pAUV150" 2>/dev/null || true
|
||||
pkill -f "pShare" 2>/dev/null || true
|
||||
pkill -f "pMarineViewer" 2>/dev/null || true
|
||||
pkill -f "MOOSDB" 2>/dev/null || true
|
||||
|
||||
# Wait a moment for processes to terminate
|
||||
echo "Waiting for processes to terminate..."
|
||||
sleep 2
|
||||
|
||||
# Force kill any remaining processes
|
||||
pkill -9 -f "pAntler.*targ_vehicle.moos" 2>/dev/null || true
|
||||
pkill -9 -f "uMAC.*targ_vehicle.moos" 2>/dev/null || true
|
||||
pkill -9 -f "pNodeReporter" 2>/dev/null || true
|
||||
pkill -9 -f "uProcessWatch" 2>/dev/null || true
|
||||
pkill -9 -f "pHelmIvP" 2>/dev/null || true
|
||||
pkill -9 -f "pAUV150" 2>/dev/null || true
|
||||
pkill -9 -f "pShare" 2>/dev/null || true
|
||||
pkill -9 -f "pMarineViewer" 2>/dev/null || true
|
||||
pkill -9 -f "MOOSDB" 2>/dev/null || true
|
||||
|
||||
echo "All AUV150 processes have been terminated."
|
||||
68
missions/auv150/launch.sh
Executable file
68
missions/auv150/launch.sh
Executable file
@@ -0,0 +1,68 @@
|
||||
#!/bin/bash -e
|
||||
|
||||
#----------------------------------------------------------
|
||||
# Script: launch.sh
|
||||
# Author: Michael Benjamin
|
||||
# LastEd: May 17th 2019
|
||||
#----------------------------------------------------------
|
||||
# Part 1: Set global var defaults
|
||||
#----------------------------------------------------------
|
||||
# 注意书写格式，不能有空格
|
||||
TIME_WARP=1
|
||||
JUST_MAKE="no"
|
||||
|
||||
LatOrigin="39.0935"
|
||||
LongOrigin="117.5361"
|
||||
|
||||
|
||||
server_host="192.168.1.88"
|
||||
#----------------------------------------------------------
|
||||
# Part 2: Check for and handle command-line arguments
|
||||
#----------------------------------------------------------
|
||||
for ARGI; do
|
||||
if [ "${ARGI}" = "--help" -o "${ARGI}" = "-h" ]; then
|
||||
echo "launch.sh [SWITCHES] [time_warp] "
|
||||
echo " --help, -h Show this help message "
|
||||
echo " --just_make, -j Just create targ files, no launch "
|
||||
echo " --fast, -f Init positions for fast encounter "
|
||||
exit 0;
|
||||
elif [ "${ARGI//[^0-9]/}" = "$ARGI" -a "$TIME_WARP" = 1 ]; then
|
||||
TIME_WARP=$ARGI
|
||||
elif [ "${ARGI}" = "--just_make" -o "${ARGI}" = "-j" ] ; then
|
||||
JUST_MAKE="yes"
|
||||
elif [ "${ARGI}" = "--fast" -o "${ARGI}" = "-f" ] ; then
|
||||
START_POS1="170,-80,270"
|
||||
START_POS2="-30,-80,90"
|
||||
LOITER_POS1="x=0,y=-95"
|
||||
LOITER_POS2="x=125,y=-65"
|
||||
else
|
||||
echo "launch.sh Bad arg:" $ARGI " Exiting with code: 1"
|
||||
exit 1
|
||||
fi
|
||||
done
|
||||
|
||||
#----------------------------------------------------------
|
||||
# Part 3: Create the .moos and .bhv files.
|
||||
#----------------------------------------------------------
|
||||
nsplug alpha_vehicle.moos targ_vehicle.moos -i -f WARP=$TIME_WARP \
|
||||
LatOrigin=$LatOrigin \
|
||||
LongOrigin=$LongOrigin \
|
||||
server_host=$server_host
|
||||
|
||||
# nsplug meta_vehicle.bhv targ_gilda.bhv -i -f VNAME=$VNAME2 \
|
||||
# START_POS=$START_POS2 LOITER_POS=$LOITER_POS2
|
||||
|
||||
if [ ${JUST_MAKE} = "yes" ] ; then
|
||||
echo "Files assembled; nothing launched; exiting per request."
|
||||
exit 0
|
||||
fi
|
||||
|
||||
#----------------------------------------------------------
|
||||
# Part 4: Launch the processes
|
||||
#----------------------------------------------------------
|
||||
echo "Launching Shoreside MOOS Community. WARP is" $TIME_WARP
|
||||
pAntler targ_vehicle.moos >& /dev/null &
|
||||
|
||||
uMAC targ_vehicle.moos
|
||||
|
||||
kill -- -$$
|
||||
Reference in New Issue
Block a user