Goby3
One framework for vehicle collaboration across acoustic and satellite links, interprocess, and interthread communications.
Overview
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. Goby also provides tools for interacting with other marine-related middleware, as well as marine engineering and oceanographic data.
Goby3 uses DCCL to encode messages for low-throughput links.
Connects with
| Stack | Bridge | Notes |
|---|---|---|
| MOOS-IvP | Mature | Built into Goby3. Translates between Goby pub/sub and MOOSDB variables. |
| ROS 2 | Demo | goby_ros_gateway bridges the Goby3 interprocess layer to ROS 2 topics. Not yet used outside the original demo code. |
Member standards
Member projects are reviewed against four documentation and four maintainability minimums. Reviewers link the evidence for each one here.
Documentation
- Purpose
- Usage example
- Interface
- Assumptions and constraints
Maintainability
- Build reproducibility
- Interface contracts
- Verified behavior
- Issue visibility