MOOS

Installation

MOOS and pymoos must both be installed in order to use the MOOS middleware.

Please follow the instructions in the installation procedure.


  • Python: $MORSE_ROOT/src/morse/modifiers/moos_datastream.py

Generation of MOOS app and variables

The MOOS middleware creates a MOOS application called “MORSE_SIM” and posts a message to the MOOS database for each variable output by a sensor. The names of the MOOS database variables are generated in the following way:

<name_of_parent_blender_object>_<name_of_blender_object>_<variable_name>

Available methods

  • read_message: Gets information from a MOOS variable and stores it in the local_data dictionary of the associated component.
  • post_message: Formats the contents of local_data into a string, and sends it to the MOOS database with a variable name given by the above convention.

Available extensions

These files contain additional methods that can be used with the MOOS middleware. To use them, it is necessary to list the file as the third element of the middleware list, in the component_config.py script, as described in the hooks documentation.

  • GPS sensor: Stored in the file: $MORSE_ROOT/src/morse/middleware/moos/gps.py. Available methods:

    • post_gps: Reads sensor-information from the simulated GPS sensor and publishes it as three MOOS variables: zEast,``zNorth``, and zHeight
  • SICK laserscanner: Stored in the file: $MORSE_ROOT/src/morse/middleware/moos/sick.py. Available methods:

    • post_2DLaserScan: Reads sensor-information from the simulated SICK-laserscanner and publishes them as a zLidarDist vector. e.g. [1x1080]{3.2,4.4,9.8,...,2.9}. The scan window size, angular resolution, and maximum range are also stored in the sScanAngle, sScanResolution, and sScanRange variables respectively.
  • Pose sensor: Stored in the file: $MORSE_ROOT/src/morse/middleware/moos/pose.py. It has one available method:

    • post_pose: Reads sensor-information from the pose sensor and publishes it as: simEast, simNorth, simHeight, simYaw, simRoll, and simPitch.
  • IMU sensor: Stored in the file: $MORSE_ROOT/src/morse/middleware/moos/imu.py. It has one available method:

    • post_imu: Reads angular velocity and linear acceleration from the IMU sensor and publishes them as a zGyroX, zGyroY, zGyroZ, zAccelX, zAccelY, and zAccelZ.
  • Gyroscope sensor: Stored in the file $MORSE_ROOT/src/morse/middleware/moos/gyroscope.py. It has one available method:

    • post_gyroscope: Reads orientation information from the gyroscope sensor and publishes them as zYaw, zRoll, and zPitch.

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