Member Projects

Open Ocean Software provides support for its member projects through community building, technical guidance, and visibility.

MOOS-IvP

MOOS-IvP is a set of open source C++ modules for providing autonomy on robotic platforms, in particular autonomous marine vehicles.

Project webpage: https://oceanai.mit.edu/moos-ivp

Github: https://github.com/moos-ivp

WHOI-ROS

WHOI-ROS is a collection of shared ROS2 software libraries and tools developed by the Woods Hole Oceanographic Institution for underwater vehicle operations.

It represents the next-generation evolution of WHOI robotics software, migrated from the earlier DS_ROS (Deep Submergence ROS) framework.

Gitlab: https://git.whoi.edu/whoi-ros

Goby / DCCL

Goby3

The Goby Underwater Autonomy Project aims to create a unified framework for autonomous marine vehicle collaboration, seamlessly incorporating efficient intervehicle (acoustic, satellite, etc.), flexible interprocess (ethernet, local sockets, etc.), and intuitive interthread (shared pointer) communications. In addition, Goby provides various useful tools for interacting with other marine-related middleware, as well as marine engineering and oceanographic data.

Project webpage: https://goby.software

Github: https://github.com/GobySoft/goby3

DCCL

The Dynamic Compact Control Language (DCCL) is a language for marshalling (or roughly analogously: source encoding or compressing) object-based messages for extremely low throughput network links. Originally designed for commanding and retrieving data from autonomous underwater vehicles over acoustic modem links, DCCL has found additional uses in the robotics community (such as for sending messages over satellite or degraded land-based links). It is suitable for use when having a very small encoded message size is of much more importance than the speed of encoding and decoding these messages.

Project webpage: https://libdccl.org/4.0

Github: https://github.com/GobySoft/dccl