OpenUxAS-SoI/examples/99_Tasks/CmasiLineSearchTask

Line Search Task

A task where a vehicle follows a list of points that form a polyline.

Files:

• cfg_LineSearchTask.xml - The UxAS configuration file for this example. This configuration file sets up the services and bridges.
• runUxAS_LineSearchtask.py - This script runs UxAS with the details in the UxAS configuration file
• runAMASE_LineSearchTask.py - This script runs AMASE with the AMASE configuration file.
• Scenario_LineSearchTask.xml - The AMASE configuration file for this example.
• MessagesToSend/ - Contains the messages send by UxAS with the send messages service.
• MessagesToSend/AirVehicleConfiguration_V101.xml - Details for air vehicle 101.
• MessagesToSend/AirVehicleState_V101.xml - Air vehicle 101's initial state.
• MessagesToSend/LineSearchTask_100.xml - The line search task that is requested.
• MessagesToSend/AutomationRequest_LineSearch.xml - The automation request for the line search task.

Running the example:

1. Open a terminal window in the directory: "examples/tasks/CmasiLineSearchTask"
2. enter the command python3 runUxAS_LineSearchTask.py or ./runUxAS_LineSearchTask.py
3. open another terminal window in the directory: "examples/tasks/CmasiLineSearchTask"
4. enter the command python3 runAMASE_LineSearchTask.py or ./runAMASE_LineSearchTask.py
5. start the AMASE simulation (i.e. press the play button)

What happens?

• When the AMASE simulation starts, vehicle 101 will be initialized and begin flying east.
• After 4 seconds, an automation request for the line search task is sent.
• Once plans have been calculated, vehicle 101 will being performing the line search task.