How to test the new vision code

1. First build the repo with the new code, for it don't use the command .~/catkin_ws/src/auv/utils/build.sh just catkin_make so, that it will not give any indentation error.
2. After the code is built then to run the task individually we need to change the code a little, just change if(!IP) to if(1).
3. Rebuilt it.
4. For testing the code we need a bag file , so move to the directory where the bagfiles are from where you can play the rosbag files.
5. Open a new terminal and run the command roscore to start the ros master.
6. Then go back to the bagfiles directory and run rosbag play filename.bag.
7. Rosbag files will publish the images at the right topic .
8. Then workspace directory where the repo is built and source it source devel/setup.sh
9. Then rosrun package_name node_name

• Link for the buoy bagfile
• Link for the line bagfile
• Link for the gate bagfile