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35 lines
2.0 KiB
Markdown
35 lines
2.0 KiB
Markdown
# Waterway Search Example
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This is an example of running UxAS service that communicates to the Amase simulation in order to generate plans and an assignment for one of two UAVs to monitor a waterway. For more background see the file 'doc/UxAS_UserManual.pdf'
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## Files:
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* `cfg_WaterwaySearch.xml` - This is
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* `runUxAS_WaterwaySearch.sh` -
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* `runAMASE_WaterwaySearch.sh` -
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* `Scenario_WaterwaySearch.xml` -
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* `MessagesToSend/` - most of the messages in this directory are explained in the document, `WaterwayExample_MessageFLow.pdf`. A few are explained below:
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* `MessagesToSend/LINE_Waterway_Deschutes.kml` - a 'kml' file from Google Earth, used to define the line search task.
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* `MessagesToSend/KmlToBoundariesTasks.WaterwaySearch.py` - a python script that process the kml file and generates LMCP messages for the example.
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## Running the Example:
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1. open a ternimal window in the directory: "examples/02_Example_WaterwaySearch/"
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2. enter the command: `./runAMASE_WaterwaySearch.sh`
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3. start the Amase simulation (i.e. push the play button)
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4. open another ternimal window in the directory: "examples/02_Example_WaterwaySearch/"
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5. enter the command: `./runUxAS_WaterwaySearch.sh`
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### What Happens?
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* When the Amase simulation starts, two UAVs will be initialized and begin loitering about to different loactions. Note: Amase uses NASA Worldwind for background imagery. If no imagery is available, Amase's background will be black.
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* .3 seconds after UxAS starts a line representing the LineSearchTask will appear in Amase
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* 5 seconds after UxAS start an AutomationRequest is sent to UxAS which kick off the mission
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* Once the plans have been calculated and a UAV is assigned to perform the LineSearchTask, waypoints will be displayed in Amase and the UAV will start following them.
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* When the UAV reaches the first waypoint of the LineSearchTask, its sensor will move to follow the river.
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### Things to Try:
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1. Edit the file, 'Scenario_WaterwaySearch.xml' and change locations of the UAV so the assignment calculation produces different results.
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