1. Download MOOS from the website "http://oceanai.mit.edu/moos-ivp/pmwiki/pmwiki.php?n=Site.Download"
2. Navigate to the moos-ivp directory you recently downloaded, you will find seperate README files for the installation instructions depending on the platform you are using. Please follow those instuctions and install moos-ivp.
3. Navigate to the moos-ivp directory, and clone the moos-ivp-midca directory.

   $ cd moos-ivp
   $ git clone https://github.com/COLAB2/moos-ivp-midca.git

4. Navigate to the moos-ivp-midca directory, you will find a README file follow the instruction to install moos-ivp-midca
5. Navigate to the moos-ivp/ivp/src directory, delete the folder named "uFldHazardSensor" and follow the instructions below

    $ cd moos-ivp/ivp/src
    $ git clone https://github.com/COLAB2/uFldHazardSensor.git
    $ cd ..
    $ cd ..
    $ ./build-ivp.sh

6. Install Zmq from the website http://zeromq.org/intro:get-the-software
7. Install MIDCA, follow the instructions from the link https://github.com/COLAB2/midca

1. Run the mooos applications $ cd moos-ivp/moos-ivp-midca/missions/new $ ./clean.sh $ ./launch.sh A GUI Window will appear, please hit Deploy button.

2. Run MIDCA, navigate to the midca directory $ cd midca/midca $ cd examples $ python moos_uuv.py And then hit Enter.

If there are any problems please feel free to contact "Sravya Kondrakunta" ([email protected]).