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
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
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