This project aims to create lightweight applications for the IvP solver from MOOS-IvP.
Rather than using "bridges" or "gateways" to connect middlewares, this project creates first-class applications for IvP and the maritime behaviors in the middleware of choice (Goby, ROS, etc.).
One way to think of this project is as a generator for the equivalent of the MOOS-based pHelmIvP in your pub/sub middleware of choice.
- src: Source code
- lib: Library source
- interface: Interface messages (Protobuf)
- bin: Binary source
- goby: Goby middleware app
- ros: ROS middleware node
- lib: Library source
This section was written by Claude.
The interface messages use Navigation and ControlSetpoint from openocean-messages, found with find_package(openocean_messages): install it, or point CMake at its build directory:
cmake -S . -B build -Dopenocean_messages_DIR=/path/to/openocean-messages/build
cmake --build build