The missions are stored separate from the code in the hovergroup/missions directory and uses the following structure:

↓hovergroup
  ↓missions
    ↓baseline
    ↓resources
      →config
      →data
      →plugs

Resources

The sub-folders here contain resources that are used to build complete mission files.  

config

Here you'll find two configuration for each vehicle, such as kestrel.def and kestrel_options.def, as well as a configuration file for the shoreside, shoreside.def.  

kestrel.def - Static configuration options for each vehicle, including IP address, port numbers, and serial port configuration.  These same values should always be used.  

kestrel_options.def - Dynamic configuration options, such as speed, accoms id, and rudder offset.  You may wish to use different values to suit your mission.  

shoreside.def - configuration information used by the shoreside to communicate with each vehicle.  The vehicle missions also use this file to get the shoreside's contact info.  

Host IP address definitions are enclosed in #ifndef macros so that they can be overwritten when launching a simulation.  The variable SIMULATION will only be defined when running in a simulation if you wish to make your own macros.  

data

For pMarineViewer backgrounds and .info files.  

plugs

Plugs for the various applications.  These are included in meta moos files to build complete mission files.  These may include macros such as $(MODEMPORT) to be populated when the final mission file is built.  Some applications may have separate plugs for vehicle and shoreside use.  

Baseline

Here you'll find separate launch scripts for icarus, shoreside, and the vehicles.  Similarly they have separate meta moos files.  Icarus does not support simulation currently, and there is a separate simulation moos file for the vehicles.  The shoreside does not require a separate simulation moos file.  Finally there is a meta behavior file.  

Launch script options:

--help, -h
Show help and exit. 

--justbuild, -j
Build, but do not launch.  Useful for debugging.   

--sim
Run in simulation on localhost.   

--nostromo, --silvana, --kestrel
Required when launching vehicles to specify which vehicle to launch.   

Launching a Simulation

./launch_shore.sh --sim
./launch_vehicle.sh --nostromo --sim

You can find the web status viewer by opening localhost:8080 in your browser.  

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