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修改missions and controller

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user_gly
2025-07-06 23:07:11 +08:00
parent c860d2e311
commit 796d642563
14 changed files with 398 additions and 472 deletions
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37
missions/alpha/alpha.moos
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@@ -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