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

# Baseline Two-Vehicle Mission

Two simulated vehicles, `alpha` and `bravo`, run separate waypoint survey
boxes from one shoreside community. The vehicles share one
`launch_vehicle.sh` path, with `launch.sh` looping over the vehicle defaults.

Default ports and colors:

- `alpha`: MOOSDB `9001`, pShare `9201`, color `yellow`
- `bravo`: MOOSDB `9002`, pShare `9202`, color `red`
- `shoreside`: MOOSDB `9000`, pShare `9200`

## Run

Generate targets only:

```bash
./launch.sh --just_make --nogui 2
```

Run headless:

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

Run with GUI:

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

## Split-Host Launch

`launch.sh` uses local networking defaults. For a distributed mission, invoke
the sublaunchers directly and replace these example addresses with addresses
reachable between the computers.

On the shoreside computer:

```bash
./launch_shoreside.sh --ip=192.0.2.10 --vnames=alpha:bravo 5
```

On the `alpha` computer:

```bash
./launch_vehicle.sh --ip=192.0.2.20 --shore=192.0.2.10 \
  --vname=alpha --mport=9001 --pshare=9201 \
  --start_pos="x=0,y=0,heading=0" --vdest=80,-40 \
  --survey_poly="0,0:80,0:80,-80:0,-80" 5
```

On the `bravo` computer:

```bash
./launch_vehicle.sh --ip=192.0.2.30 --shore=192.0.2.10 \
  --vname=bravo --color=red --mport=9002 --pshare=9202 \
  --start_pos="x=0,y=-100,heading=0" --vdest=80,-140 \
  --survey_poly="0,-100:80,-100:80,-180:0,-180" 5
```

`--ip` selects the address advertised by each community. Each 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 and is reused for both
  `alpha` and `bravo`.
- `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.

## Adaptation Notes

Keep one `launch_vehicle.sh`. Add vehicles by extending the arrays in
`launch.sh`; do not create one launcher per vehicle.