Engineering/marl3.tl¶
Mission ID: marl
Mission Path: Engineering/marl3.tl
This mission is a test to deploy MARL in the Gazebo sim for multi-agent target traccking using range-only.
Arguments¶
MissionTimeout¶
MissionTimeout = 6 hour
Maximum duration of mission
NeedCommsTime¶
NeedCommsTime = 40 minute
Elapsed time after previous surface communications when vehicle will begin to ascend for additional surface communications
ContactLabel¶
ContactLabel = 8 count
The acoustic address of the asset to be tracked. This is the default value, but it will be overwritten by bash file duirng simulation launch. tethys = 6 brizo = 11 daphne = 8 galene = 9 makai = 5 pontus = 10 triton = 12
SendDataLabel¶
SendDataLabel = 10 count
The acoustic address of the asset to send observation data 255 broadcast (it doesn't work,says it is not mapped), 10 is pontus This is the default value, but it will be overwritten by bash file duirng simulation launch.
ContactDepth¶
ContactDepth = NaN meter
The asset's depth to be tracked
LatHeading¶
LatHeading = 36.775 degree
The latitude of the center of the circle. Fill this in to specify a start position, it will be overwritten once the vehicle receives an acoustic signal from the contact.
LonHeading¶
LonHeading = -121.865 degree
The longitude of the center of the circle. Fill this in to specify a start position, it will be overwritten once the vehicle receives an acoustic signal from the contact.
CenterNorthingsDelta¶
CenterNorthingsDelta = 0 meter
Desired change in latitude to achieve, expressed as a distance.
CenterEastingsDelta¶
CenterEastingsDelta = 0 meter
Desired change in longitude to achieve, expressed as a distance.
CircleRadius¶
CircleRadius = 50 meter
Radius of circle around acoustic contact during wait time
SpeedUpdateTimeout¶
SpeedUpdateTimeout = 4 hour
Max time allowed between speed command updates.
StateUpdateDelay¶
StateUpdateDelay = 10 second
Minimum time delay between state updates to avoid rapid changes.
HorizontalCommandMode¶
HorizontalCommandMode = 0 count
Mission horizontal command mode. 0 = Heading command (default). 1 = Rudder angle command. 2 = Waypoint command
AcousticContactTimeout¶
AcousticContactTimeout = 4 hour
" If the vehicle does not receive an acoustic signal for more than this length of time, it will surface for communications with shore.
SendObservationDataInterval¶
SendObservationDataInterval = 180 second
How often to send back some a-comms data
TrackingUpdatePeriod¶
TrackingUpdatePeriod = 120 second
How long to wait between acoustic queries
Depth¶
Depth = 20 meter
Depth of flat and level flight during the mission.
MaxDepth¶
MaxDepth = 60 meter
Maximum depth for the entire mission.
MinAltitude¶
MinAltitude = 5 meter
Minimum height above the sea floor for the entire mission.
MassHold¶
MassHold = true
Set to True in order to hold mass at default position, False to allow mass to run on its own.
BuoyancyHold¶
BuoyancyHold = true
Set to True in order to hold buoyancy at neutral position, False to allow buoyancy to run on its own.
NumberOfPings¶
NumberOfPings = 1 count
Number of return pings to request with each acoustic query (more than 1 will activate oneway mode)
CircleMaxError¶
CircleMaxError = 10 meter
If this distance away from the circle, drive straight towards (or away from the center). Otherwise, try to reduce distance from the ideal circle.
CircleTurnToPort¶
CircleTurnToPort = false
If true, vehicle turns to the left around the center point. If false, vehicle turns to the right.
Speed¶
Speed = 0 meter_per_second
Vehicle speed.
MyTempVar¶
MyTempVar = NaN none_str
A custom variable from the backseat driver interface.
KwpHeading¶
KwpHeading = 0.010 radian_per_meter
Used to relax waypoint cross-track error constant that is adjusted for docking. (You can override this setting by passing an argument.)
MinOffshore¶
MinOffshore = 1.5 kilometer
Minimum offshore distance for the entire mission.
Output¶
HeadingMode¶
HeadingMode = 0 count
Heading angle command mode enumaration.
RudderMode¶
RudderMode = 1 count
Rudder angle command mode enumaration.
WpMode¶
WpMode = 2 count
Waypoint command mode enumaration.
Heading¶
Heading = 0 degree
Commanded vehicle heading. Mission will init Heading to current vehicle heading.
RudderAngle¶
RudderAngle = 0 degree
Commanded vehicle RudderAngle. Only acitve when mission is in rudder commands mode.
TimeLastSendData¶
TimeLastSendData = 0 second
ElapsedSinceLastSendData¶
ElapsedSinceLastSendData = 0 second
Time elapsed since last Send Data fix.
Inserts¶
Insert/AbortDrift.tl¶
redefineArg AcousticTimeout = AcousticContactTimeout