Hello,

I'm working with the South Dakota School of Mines and Technology UAV team this summer, and have been placed in charge of figuring out how to use and implement JAUS to meet the requirements of the competition.

From the competition this is what we are required to broadcast via JAUS.

As a minimum, “Navigational information” will constitute the following (reported at least once per second): (a) vehicle heading (North reference is user defined), (b) vehicle height above floor, (c) vehicle speed estimate, (d) one-time “target found” signal (when flash drive is detected). (e) one-time “target acquired” signal (when flash drive is retrieved).

From what I have discovered while digging through the JAUS + OpenJAUS libraries we need to broadcast the following messages,

reportVelocityStateMessage

reportLocalPoseMessage,

reportComponentControlMessage

reportComponentStatusMessage

We are given the following tool to help validate our Code and JAUS system. www.usaric.org/JVT

My question is how to set the address of the subsystem to properly send JAUS info to the IP Address 24.42.140.203 on port 3794.
When looking through the tutorials I understand how to make a component and set up the service connection, but it never went over how to set the address from what I saw.

Any help would be greatly appreciated.

Jeff,

It all depends on how the JVT works. It may not be compatible with OpenJAUS. OpenJAUS requires that there is another node manager on the remote subsystem that it can connect to. Is the address 24.42.140.203 a static IP address on the remote subsystem? or is it on your local subsystem? In general I need more information about how the JVT is intended to work.

Tom

All I really know about the JVT is in the paragraph they have to describe it.

Enter your email address in order to activate the interface below. Once you have submitted your email address, you need to provide the subsystem identifier for your robot. Your valid JAUS Subsystem range is in the range of 1-32766 (inclusive) with the exception of 90 and 253 as they are reserved for browser verification (see note below). Your robot should be connected to the COP via IP Address 24.42.140.203 on port 3794. UDP Communications are required for tool use. Press the Connect button to show your reported data. A log file will be automatically sent to the email address you enter for your post-processing analysis. Use the forum to report any issues or errors. To validate that your browser supports the validation tool, use a subsystem identifier of 253. If you get an error message regarding the subsystem of your vehicle, you can either wait until that id is free again or change yours.

From what I have read in their other documents it just receives messages in the application layer. This will be how we send messages to the Remote JAUS compliant judges terminal during the competition as well. For that we are being given a specific IP address with the last octet being our unique SubSystem ID. And it basically just says stream things to this address until you get a successful handshake than continue doing that.

I'll supply more info later today if I can find any more, once I get to work and read through the JAUS documents for the competition a few more times.


All info we are given is supplied here : www.usaric.org/Interop-Challenge-2010.pdf
Page 6 talks about communications with the Judge Terminal

Thanks,

Jeff