zjk/AUV_150
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

修改missions and controller

Browse Source
This commit is contained in:
user_gly
2025-07-06 23:07:11 +08:00
parent c860d2e311
commit 796d642563
14 changed files with 398 additions and 472 deletions
Download Patch File Download Diff File Expand all files Collapse all files

37
missions/alpha/alpha.moos
View File

@@ -5,7 +5,7 @@ Community = alder
MOOSTimeWarp = 1
LatOrigin = 43.825300
LongOrigin = -70.330400
LongOrigin = -70.330400
//------------------------------------------
// Antler config block
@@ -16,7 +16,7 @@ ProcessConfig = ANTLER
Run = MOOSDB @ NewConsole = false
//Run = uSimMarineV22 @ NewConsole = false
Run = pNodeReporter @ NewConsole = false
//Run = pLogger @ NewConsole = false
//Run = pLogger @ NewConsole = false
Run = pMarineViewer @ NewConsole = false
Run = uProcessWatch @ NewConsole = false
Run = pHelmIvP @ NewConsole = false
@@ -24,6 +24,9 @@ ProcessConfig = ANTLER
Run = pShare @ NewConsole = false
}
//------------------------------------------
// pShare config block
ProcessConfig = pShare
{
AppTick = 10
@@ -31,7 +34,7 @@ ProcessConfig = pShare
//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
//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
@@ -81,10 +84,11 @@ ProcessConfig = pHelmIvP
AppTick = 4
CommsTick = 4
Behaviors = alpha.bhv
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
@@ -135,12 +139,12 @@ ProcessConfig = pMarineViewer
TIFF_FILE = forrest19.tif
set_pan_x = -90
set_pan_y = -280
zoom = 0.65
zoom = 1
vehicle_shape_scale = 1.5
hash_delta = 50
hash_shade = 0.4
hash_viewable = true
VName = abc
scope = ODOMETRY_DIST
// Appcast configuration
@@ -172,6 +176,9 @@ ProcessConfig = pNodeReporter
//vessel_type = auv
}
//------------------------------------------
// pAUV150 config block
ProcessConfig = pAUV150
{
AppTick = 10
@@ -180,15 +187,20 @@ ProcessConfig = pAUV150
//server_host = 10.127.0.18
//server_host = 127.0.0.1
//server_host = 192.168.137.1
//server_host = 192.168.220.1
server_host = 192.168.43.131
LatOrigin = 43.825300
LongOrigin = -70.330400
server_host = 192.168.220.1
//server_host = 192.168.43.131
//LatOrigin = 43.825300
//LongOrigin = -70.330400
LatOrigin = 43.825750
LongOrigin = -70.329158
ControlFrequency = 10
}
//------------------------------------------
// pMotionControler config block
ProcessConfig = pMotionControler
{
AppTick = 10
@@ -196,6 +208,9 @@ ProcessConfig = pMotionControler
config_file = /home/zjk/project/moos-ivp-extend/missions/alder/ControlParam.json
}
//------------------------------------------
// pLogger config block
ProcessConfig = pLogger
{
AppTick = 10

7
missions/alpha/alpha_shoreside.moos
View File

@@ -22,6 +22,7 @@ ProcessConfig = ANTLER
//------------------------------------------
// pShare config block
ProcessConfig = pShare
{
AppTick = 10
@@ -41,6 +42,7 @@ ProcessConfig = pShare
//------------------------------------------
// uProcessWatch config block
ProcessConfig = uProcessWatch
{
AppTick = 4
@@ -67,7 +69,7 @@ ProcessConfig = pMarineViewer
TIFF_FILE = forrest19.tif
set_pan_x = -90
set_pan_y = -280
zoom = 0.65
zoom = 1
vehicle_shape_scale = 1.5
hash_delta = 50
hash_shade = 0.4
@@ -89,7 +91,8 @@ ProcessConfig = pMarineViewer
BUTTON_TWO = RETURN # RETURN=true
}
//------------------------------------------
// pLogger config block
ProcessConfig = pLogger
{

22
missions/alpha/alpha_vehicle.moos
View File

@@ -22,6 +22,9 @@ ProcessConfig = ANTLER
Run = pShare @ NewConsole = false
}
//------------------------------------------
// pShare config block
ProcessConfig = pShare
{
AppTick = 10
@@ -64,10 +67,11 @@ ProcessConfig = pHelmIvP
AppTick = 4
CommsTick = 4
Behaviors = alpha.bhv
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
@@ -83,13 +87,16 @@ ProcessConfig = pNodeReporter
AppTick = 2
CommsTick = 2
platform_length = 1.5 // meters
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
@@ -98,13 +105,18 @@ ProcessConfig = pAUV150
//server_host = 10.127.0.18
//server_host = 127.0.0.1
server_host = 192.168.137.1
LatOrigin = 43.825300
LongOrigin = -70.330400
//LatOrigin = 43.825300
//LongOrigin = -70.330400
LatOrigin = 43.825750
LongOrigin = -70.329158
ControlFrequency = 10
}
//------------------------------------------
// pLogger config block
ProcessConfig = pLogger
{
AppTick = 10

74
missions/alpha/gly_1.bhv Normal file
View 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
}