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)