OpenUxAS-SoI/examples/99_Tasks/LoiterTask/README.md

Loiter Task

An task where a vehicle loiters around a point.

Files:

• cfg_LoiterTask.xml - The UxAS configuration file for this example. This configuration file sets up the services and bridges.
• runUxAS_LoiterTask.py - This script runs UxAS with the details in the UxAS configuration file
• runAMASE_LoiterTask.py - This script runs AMASE with the AMASE configuration file.
• Scenario_LoiterTask.xml - The AMASE configuration file for this example.
• MessagesToSend/ - Contains the messages sent 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/LoiterTask_100.xml - The loiter task that is requested.
• MessagesToSend/AutomationRequest_LoiterTask.xml - The automation request for the loiter task.

Running the example:

1. Open a terminal window in the directory: "examples/tasks/LoiterTask"
2. enter the command python3 runUxAS_LoiterTask.py or ./runUxAS_LoiterTask.py
3. open another terminal window in the directory: "examples/tasks/LoiterTask"
4. enter the command python3 runAMASE_LoiterTask.py or ./runAMASE_LoiterTask.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 loiter task is sent.
• Once plans have been calculated, vehicle 101 will being performing the loiter task.