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>

Configuration specificities

When configuring a component to export its data through MOOS, you can pass the options moos_host and moos_port to define the host and port of the MOOS community in which you want to communicate. Default values are 127.0.0.1:9000.

foo.add_stream('moos', moos_port=9002, moos_host="127.0.0.2")

The same way, the option moos_freq defines the frequency with which data should be exported. The default value is 10Hz.

foo.add_stream('moos', moos_freq=20)