[tsaubergine]

This PR brings IvPico's two upstream dependencies into the repository as submodules. It adds init.sh to set up a checkout, build.sh to build IvPico against them (including MOOS-IvP's helm libraries as shared libraries), and CI.

Submodules (external/)

Path	Repository	Pinned at
external/openocean-messages	openocean-software/openocean-messages	main (11a1328): the Navigation and ControlSetpoint messages
external/moos-ivp	GobySoft/moos-ivp	be40e2c, the head of GobySoft/moos-ivp#1: the IvP solver and behaviors, with a helm-libraries-only build

moos-ivp is marked shallow = true, since its full history is about 160 MB compared with about 30 MB at depth 1.

Before merging: external/moos-ivp points at GobySoft/moos-ivp#1's branch. Once that PR merges, move the pointer to the merge commit on GobySoft's main.

init.sh

It runs git submodule update --init --recommend-shallow, then installs the Ubuntu packages to build the submodules and IvPico:

• cmake, ninja-build, g++, git, ca-certificates, protobuf-compiler, libprotobuf-dev;
• openocean-messages' C++ dependencies, through its own init.sh --cxx, so the two stay in step. This also seeds openocean-messages' build options to C++ only.

MOOS-IvP's helm libraries need nothing more: no MOOS, PROJ, patch, or FLTK.

build.sh

It builds everything in build/, and nothing inside the submodules:

1. openocean-messages (without its tests), into build/external/openocean-messages;
2. MOOS-IvP's helm libraries (IVP_BUILD_HELM_LIBS_ONLY, BUILD_SHARED_LIBS), into build/external/moos-ivp, then installed into build/external/install, since find_package(IVP) only works from an installation;
3. IvPico, against both.

All three use Ninja. Arguments go to IvPico's CMake (e.g. -DCMAKE_BUILD_TYPE=Release), and BUILD_DIR overrides build, as in openocean-messages' build.sh. It stops with "run ./init.sh first" if a submodule isn't checked out.

CMake

• The top-level CMakeLists.txt finds the helm libraries with find_package(IVP CONFIG REQUIRED); their imported targets are IVP::helmivp, IVP::ivpsolve, and so on.
• include(CTest) and a first test, helm_libs (src/test/check_helm_libs.cpp). It creates a waypoint and a COLREGS behavior with BFactoryStatic, which loads every helm library, and solves a one-function course problem with the IvP solver.

CI (.github/workflows/ci.yml)

A matrix of Ubuntu 24.04 and 26.04 containers, on amd64 (ubuntu-24.04) and arm64 (ubuntu-24.04-arm) runners: four jobs. Each one runs on pushes to main and on pull requests:

1. installs git, so that actions/checkout makes a real clone that init.sh can check the submodules out in;
2. runs ./init.sh, ./build.sh, and ctest.

Since each container starts clean, a dependency init.sh forgets fails the build.

README

• Adds external/ to the repository structure.
• The Building section is now ./init.sh, ./build.sh and ctest, with what build.sh builds where, and how to update a submodule.

Test plan

• CI green on all four jobs: Ubuntu 24.04 and 26.04, on amd64 and arm64.
• Locally, in clean ubuntu:24.04 and ubuntu:26.04 containers from a fresh clone, ./init.sh, ./build.sh and ctest pass, and git status (submodules included) is clean afterwards.
• build.sh reruns incrementally, honours BUILD_DIR and passes arguments to CMake, and stops with a pointer to init.sh when the submodules are missing.
• init.sh --help prints its usage; an unknown option exits with an error.
• Earlier, before the helm-libraries build existed, the full MOOS-IvP build (build-moos.sh --minrobot, build-ivp.sh --nogui) also built from this submodule in a clean container. That run is what found that it needed patch and --minrobot, both no longer needed.

🤖 Generated with Claude Code

https://claude.ai/code/session_01VLcYK4e29B5FiPbDDJy5fp