docs: CAMP user manual (plan)

[rolker]

Plan-first draft PR. The committed work plan (.agent/work-plans/issue-61/plan.md) is reproduced below; the manual itself will be added to this branch as implementation proceeds.

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Work Plan — Issue #61: CAMP user manual (operator-facing)

Issue: #61

Context & forcing function

Part of the Summer Hydro 2026 documentation push (driver: June 4 dev-freeze /
class start; audience = rotating student-operator cohorts). Companion to the
BizzyBoat operator manual (rolker/unh_echoboats_project11#202) and the framework
guide (rolker/unh_marine_autonomy#132, drafted as PR #133). Decisions agreed
with Roland 2026-06-01.

Audience & scope decisions

• Audience: student operators at the operator station.
• CAMP = the deployed CCOMAutonomousMissionPlanner binary, NOT the unused
  camp2 rewrite. Develop/document against src/camp/ (RosContext / TopicBridge /
  GeoGraphicsItem arch; Markers is the overlay template).
• Troubleshooting = link to the framework guide, not a symptom→cure cookbook.
• No mission-specific (site/customer) detail.

Outline

1. Overview — CAMP (CCOMAutonomousMissionPlanner) at the operator station;
   what it is and isn't.
2. Starting & connecting — launch; chart auto-load (13283 via camp_launch.py);
   confirming the boat link. A boat advertises itself on /marine/platforms
   and CAMP's PlatformManager auto-creates a tab + map drawing per platform —
   so "boat not showing up" → check /marine/platforms reaching the station and
   the boat's platform_publisher lifecycle node being activated (framework
   guide §3).
3. Reading the display — chart; boat pose; camera/sonar/segmentation views;
   annunciators (naming distinguishes diagnostic source — boat vs operator —
   not where the display lives; both run at the operator station); heartbeat.
4. Planning a survey — lay out lines; parameters.
5. Sending & controlling missions — send; override (Standby / Hover /
   Goto); update-vs-replace task semantics (mid-run plan modify = replace_task,
   which works; in-place update_task is unhandled / deferred to the Field import: camp (2026-05-01) #50 BT
   redesign — document current behavior, don't promise update_task).

Source-of-truth references (verify against, don't assume)

• Platform self-advertisement: ui_ws/src/camp/src/camp/platform_manager/
  (platform_manager.cpp subscribes /marine/platforms) ↔ boat-side
  unh_marine_autonomy/marine_autonomy/scripts/platform_send.py.
• Command/override + task semantics: framework guide docs/how_the_stack_works.md
  in unh_marine_autonomy (PR #133) and the marine/mission_manager/command
  routing (command_bridge / camp_interface). Topic prefix is marine/ (the
  project11/ prefix is retired; PR #133 cleaned the autonomy docs).
• Bag-replay verification recipe (for testing CAMP behavior locally without a
  boat): camp_launch.py auto-loads chart 13283; ros2 bag play --start-offset
  is safe (earth→bizzy/map is dynamic /tf); no zenoh needed locally.
• Known display caveats to mention or work around:
  • Hover markers can be missing until CAMP restart (lazy viz publisher / FastDDS
    late-join; fixed by TopicBridge + executor contract: restructure ROS callback / Qt thread / TF interaction #48/PR#49 — note current state).
  • Windowed/operator costmap + imagery can read empty until a 2nd subscriber
    attaches (subscriber-gated lazy publish) — not a CAMP bug per se.

Cross-links

• Framework guide: rolker/unh_marine_autonomy#132 / PR #133 (link for the
  "how it works" / troubleshooting-by-understanding material).
• BizzyBoat operator manual: rolker/unh_echoboats_project11#202.

Open items / notes

• Decide doc location/format (e.g., docs/camp_user_manual.md) and link from the
  camp README.
• Verify the override/send UI flow against the actual CAMP widgets before writing
  §5 (read the relevant src/camp/ UI code; don't document from memory).

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Authored-By: Claude Code Agent
Model: Claude Opus 4.8 (1M context)