Autonomous Underwater Vehicles : Minutes from 2007-03-26--Status meeting on AUV Deliberative Autonomy project This page last changed on Mar 28, 2007 by kanna. Present: Rich, Rob, Frederic, Conor and Kanna A test AMC stack for the autonomy computer is now finally available. It is trex1.shore.mbari.org and has a standard Fedora/RH distribution. Quite a bit of testing with TREX and the EUROPA codebase has been accomplished over the last week since this came online. However due to the current RH gcc version, EUROPA code had be modified to compile with stricter gcc 4.1 which added quite a bit of work for Conor. The next steps in cloning this machine to go onboard the AUV's bubble would be: to test the process of building an image offline on a faster machine and dropping it into trex1 for testing. start performance tests to determine how TREX is doing. Current indications on the Mac appears to be that less that 2% of CPU time is being taken over by an optimized version of TREX, primarily for synchronization and database updates. We also have a QNX test environment in foobar.shore.mbari.org ready to go. There appears to be a problem in the socket code when testing on vehicle which appears to be timing related. Frederic who implemented the original code will be evaluating the code this week. There appears to be no trace of state publisher when using the vehicle. Rich and Conor are planning to investigate. An issue of vehicle dynamics and layered control came up to see what the vehicle would do when a requested Yo-Yo behavior is not doable because of dynamics Rob will investigate by checking the layered control code An associated issue (which will impact the autonomy task later) is how Frederic's clustering algorithm is to work with the behavior which needs to use it to initiate a sample. The latter is being written by Rob who will coordinate with Frederic to see how these two software modules need to work together.

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