[tsaubergine]

Stacked on #6. This finishes Phase 2 of the plan: four MOOS-IvP missions run end to end under Goby. The Goby tests are declarative goby test files.

What's here

• Goby from the continuous repository, and optional. goby test is newer than Goby 3.6.1, so the source init.sh adds is packages.gobysoft.org's continuous repository.
  • It currently installs 3.6.1+4+g3ab60147, available for 24.04 and 26.04 on amd64 and arm64.
  • The source and its key are only added when apt has no candidate for libgoby3-dev.
  • init.sh --no-goby leaves Goby out, and build.sh then skips the Goby app. The "Record missions" workflow uses it.
  • The Goby tests are only added when find_package(GOBY) sets GOBY_EXECUTABLE, which is only true for builds that have goby test. Older installs still build goby_helm_ivp and skip the tests with a status message.
• Closed-loop missions (ctest closed_loop_{s1_alpha,s2_bravo,s3_charlie,s4_delta}):
  • src/test/missions/goby/closed_loop.yml holds the fixtures (gobyd, goby_basic_frontseat_simulator, the frontseat interface and goby_helm_ivp, with time warp 10) and the startup check;
  • each <mission>/test.yml includes it, publishes the pokes (DEPLOY=true, MOOS_MANUAL_OVERRIDE=false) and expects the helm's postings by a deadline;
  • throughout the mission, they also check for no MALCONFIG and no behavior error;
  • s3_charlie also checks the helm is still in DRIVE at the end;
  • times are real seconds, a tenth of mission time;
  • goby test visualize draws the plan, and a failed run's report names each fixture's log.
• Smoke test (ctest goby_helm_ivp): src/test/goby/helm_ivp/test.yml checks the frontseat bridge. One NodeStatus goes in; a DesiredCourse with heading 90, HELM_DRIVE and a Status of DRIVE come out.
• Removed: ivpico_mission_check, run.sh and test_goby_helm_ivp.sh, which the test files replace.
• build/usr: build.sh installs openocean-messages, MOOS-IvP's helm libraries and IvPico into build/usr, so build/usr/bin can go on PATH.
  • IvPico now installs its libraries.
  • Installed programs find them through an $ORIGIN/../lib RPATH.
• OpenCPN: the alpha launch also starts goby_opencpn_interface, which serves the vehicle as an AIS target on TCP port 54000.
  • launch/goby/alpha/README.md covers running the mission and connecting OpenCPN.
• READMEs: the closed-loop section in src/test/missions/README.md now describes the test files, and the top-level README points to the alpha launch's README.

Mission	Checks (mission time)
s1_alpha	RETURN=true before 460 s (recorded at 370 s)
s2_bravo	MODE=ACTIVE:SURVEYING before 10 s; RETURN=true before 270 s
s3_charlie	MODE=ACTIVE:LOITERING before 10 s; still in DRIVE at 200 s
s4_delta	MODE=ACTIVE:LOITERING before 10 s; TIME_AT_SURFACE=1 before 180 s

Testing

• goby test validate passes on all five files.
• Ran the five Goby tests locally through ctest with Goby 3.6.1+4+g3ab60147: all pass in 2–51 s, and no processes are left behind.
• Clean Ubuntu 26.04 container, default init.sh: the continuous source is added, all 15 tests pass, and build/usr/bin/goby_helm_ivp is installed.
• Clean Ubuntu 26.04 container, init.sh --no-goby: no Goby source or packages, and all 10 tests pass.
• Ran the installed goby_helm_ivp from PATH: every library resolves from build/usr/lib.
• Ran the alpha mission with goby_opencpn_interface: AIS sentences for the vehicle arrive on port 54000.

🤖 Generated with Claude Code

https://claude.ai/code/session_01VLcYK4e29B5FiPbDDJy5fp