#!clearsilver CS/NodeAPI node.0 {

• name = 3d_buoy_finder desc = Uses RANSAC with a spherical model to identify buoys from a stereo camera. sub {
  • 0.name= points 0.type= sensor_msgs/PointCloud2 0.desc= The point cloud from a stereo camera.
  } pub {
  • 0.name= buoys 0.type= bluerov_apps/Buoys 0.desc= A list of found buoys.
  } param {
  • 0.name= ~radius_min 0.type= float 0.desc= The minimum radius of found spheres in meters. 0.default= 0.05 1.name= ~radius_max 1.type= float 1.desc= The maximum radius of found spheres in meters. 1.default= 0.15
  }

}

#!clearsilver CS/NodeAPI node.0 {

• name = buoy_ekf desc = pub {
  • 0.name= mavlink/to 0.type= mavros_msgs/Mavlink 0.desc= Mavlink stream to autopilot.
  } sub {
  • 0.name= mavlink/from 0.type= mavros_msgs/Mavlink 0.desc= Mavlink stream from autopilot.
  } param {
  • 14.name= ~gcs_url 14.type= string

    14.desc= Connection URL. New in 0.7.0 14.default= udp://@

  }

}