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Member projects

Each project lists its maintainer, where the code lives and where to report issues. New projects move through the member stages as their practices grow.

Showing 6 of 6

Autonomy

MOOS-IvP

Open-source C++ modules for autonomy on marine vehicles, with the IvP Helm multi-objective decision engine.

C++MOOS apt package
Mike Benjamin, MIT
ROS 2

WHOI-ROS

Shared ROS 2 libraries and tools for underwater vehicle operations from Woods Hole Oceanographic Institution. Successor to DS_ROS.

ROS 2
Isaac Vandor, WHOI
Acoustic comms

ros_acomms

ROS interface to the WHOI Micromodem and transport of ROS messages across an acoustic link, with simulation. Supports ROS 1 and ROS 2.

PythonROS 2Acoustic comms LGPL-3.0 / AGPL-3.0
Eric Gallimore, WHOI
Middleware and comms

Goby3

One framework for vehicle collaboration across acoustic and satellite links, interprocess, and interthread communications.

C++Acoustic comms OpenSSF Scorecard
Toby Schneider, GobySoft
Encoding

DCCL

Compact message marshalling for very low-throughput links such as acoustic modems and satellite.

C++Acoustic comms apt package OpenSSF Scorecard
Toby Schneider, GobySoft
Packaging Open Ocean

openocean-build

Builds and signs apt packages for member projects. MOOS-IvP and DCCL are ready on Debian and Ubuntu today.

DebianUbuntu
Open Ocean Software

How member stacks connect today

What we know about each bridge between member stacks today. Send corrections on the forum. Source: middleware interoperability goal in openocean-plan.

Bridge Status Maintainer Notes
Goby ↔ MOOS Mature GobySoft Built into Goby3. The one production-grade bridge.
Goby ↔ ROS 2 Demo GobySoft goby_ros_gateway. Not yet used outside demo code.
ROS 2 ↔ MOOS Ad hoc Various No single maintained bridge. Labs keep custom solutions.
LCM ↔ ROS 2 Ad hoc Various lcm_to_ros packages pinned to specific versions.
LCM ↔ MOOS Research-grade Various Published bridge (IEEE, 2019), not actively maintained.