skills/moos-ivp-mission-builder/assets/baseline-single-vehicle/README.md

# Baseline Single-Vehicle Mission

One simulated vehicle named `abe` runs a waypoint survey, can return to the
operator-selected point, and can station keep. The shoreside community provides
`pMarineViewer` buttons for deploy, return, and station keeping.

## Run

Generate targets only:

```bash
./launch.sh --just_make --nogui 5
```

Run headless:

```bash
./launch.sh --nogui 5
```

Run with GUI:

```bash
./launch.sh 5
```

## Split-Host Launch

`launch.sh` uses local networking defaults. To put shoreside and the vehicle on
different computers, invoke the two sublaunchers directly. Replace the example
addresses with addresses reachable between the computers.

On the shoreside computer:

```bash
./launch_shoreside.sh --ip=192.0.2.10 5
```

On the vehicle computer:

```bash
./launch_vehicle.sh --ip=192.0.2.20 --shore=192.0.2.10 5
```

`--ip` selects the address advertised by that community. The vehicle's
`--shore` value selects the shoreside destination used by `uFldNodeBroker`.

## Files

- `launch.sh` launches the full mission.
- `launch_vehicle.sh` launches one vehicle community.
- `launch_shoreside.sh` launches the shoreside community.
- `meta_vehicle.moos` configures vehicle MOOS apps.
- `meta_vehicle.bhv` configures helm behaviors.
- `meta_shoreside.moos` configures shoreside apps and operator buttons.

## Operator Action

In `pMarineViewer`, press `DEPLOY` to start the survey. Press `RETURN` to send
the vehicle home or use the left-click return-point context action when the GUI
is available.