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soft_config includes 'soft' configuration parameters such as return locations, rudder offsets, and cruise speeds. These are parameters you may want to change in your own missions, in which case you should either rewrite these parameters in your own launch script or include your own copy of this file.
baseline
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mission
These are the standard mission configurations. Each includes scripts for launching the mission and the meta files for simulation, shoreside, icarus, and vehicles.
baseline_uFld - the standard mission, using uFld to configure variable sharing between communities.
baseline_pShare - currently preferred, uses single variable pShare configuration to avoid the communications overhead imposed by uFld.
baseline_pShare_wild - similar to baseline_pShare, but uses wildcard shares to simplify the sharing configuration. Should not be used until a newer version of MOOS with updated wildcard handling makes its way to the kayaks.
scheduledTransmit_pShare - based on the pShare baseline, but with the pScheduledTransmit application included. Global transmit period and offsets for each vehicle are defined in the vehicle launch script.Located in the baseline folder, the mission consists of the meta moos files, meta behavior files, and launch scripts.
How it works
If you look at one of the launch script you should typically see the following steps:
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Start your own mission by copying one of the baseline folders (currently prefer baseline_pShare) mission into your own folder in the missions directory. Rename it to something else, and make whatever changes are necessary. You can make your own plugs to replace the defaults as well and save them anywhere in your folder, as long as the include paths in the meta moos file are appropriately modified. Some other suggestions/guidelines:
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