MOOS and MORSE tutorial moos

This is an extension of the current tutorial using MOOS as our middleware (instead of raw sockets).

The builder script is almost the same as the one used in the sockets tutorial. The difference is the interface, which in this case is MOOS. You can find it in examples/tutorials/tutorial-1-moos.py.

Configuring MOOS

gyroscope.add_stream('moos')
motion.add_stream('moos')

Running the simulation

Start a MOOS DB instance with:

$ MOOSDB

In another termianl, run morse with:

$ morse run examples/tutorials/tutorial-1-moos.py

Start uMS (which requires the ui-moos package) as a simple way to control the robot and view its sensor output. The ATRV can be controlled by publishing a longitudinal speed in m/s to cVelocity and publishing a yaw rate in rad/sec to cYawRate. The output of the Pose sensor should also be visible in uMS under the zPitch, zRoll, and zYaw variables.