Waste Collection Pipeline on BlueBoat

Environment Setup:

Install and setup Stonefish simulator:
https://github.com/patrykcieslak/stonefish

Clone the repository to have access to the BlueBoat simulation model on Stonefish:
https://github.com/oceansystemslab/HeriotWattStonefishSim

Replace the launch and scenarios files located in the Simulation folder in the HeriotWattStonefishSim folder previously cloned.

Launch the BlueBoat Simulation:
roslaunch cola2_stonefish blueboat_simulation.launch

Waste Detection:

Install and setup the ROS wrapper for ZED camera:
https://github.com/stereolabs/zed-ros-wrapper

Launch waste detection node:

roslaunch waste_collection_pipeline transform.launch
roslaunch waste_collection_pipeline waste_detection.launch

Waste collection:

Launch the service server to compute IK and FK for arm kinematics:
roslaunch waste_collection_pipeline kinematics.launch

Launch waste collection script to collect wastes:
rosrun waste_collection_pipeline main.py