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Discovery-Only Reference Components

These six Python applications instantiate the UMAA services listed for the USV reference components in Component Definitions v1.0. They intentionally perform no application work: no reports are published and no commands are processed beyond creating the DDS endpoints required for discovery.

Run one component after configuring UMAA_QOS_FILE and RTI_LICENSE_FILE:

cd python
source .venv/bin/activate
PYTHONPATH=. python -m examples.reference_components.run_component weather

Available applications are colregs-hazard-avoidance, logging, mission-executor, usv-navigation, water-environment, and weather.

For QoS files with different library or profile names, override both profiles:

PYTHONPATH=. python -m examples.reference_components.run_component weather \
	--domain-id 1 \
	--qos-profile umaa_qos_lib::topic_qos_assign \
	--participant-qos-profile umaa_qos_lib::default_participant

The defaults remain UMAAQoSLib::AssignerQoS and UMAAQoSLib::DefaultUMAAParticipant.

Synthetic Reports

Add --simulate to publish synthetic reports for a bounded duration:

PYTHONPATH=. python -m examples.reference_components.run_component weather \
	--simulate --duration 60 --interval 1 --seed 42

The profile overrides above can be combined with these options. The default duration is 60 seconds and the interval is one second. A seed makes generated values reproducible; source GUIDs and timestamps still vary unless configured.

Five components publish random log entries. Navigation also publishes speed, water environment publishes current, and weather publishes wind. Logging is consumer-only. Simulation polls the declared report readers and prints per-topic write and receive counts before shutdown. It does not issue commands or simulate mission execution, collision avoidance, or other report types. Run the components concurrently to exchange reports. Discovery and best-effort delivery can cause receive counts to be lower than write counts.