The lines 43-47 in the buoy_processing node uses the highgui library to capture video frames. Instead of that uvc_camera or usb_cam packages can be used. These need to added to the hardware_layer and the code needs to be changed appropriately.

There is a problem in the node name vs the pre-remapped image topic name. I'll solve this tomorrow. Without this, vision_layer will not work.

So far we have been using the std_msgs and other message formats that ROS provides. Typically, it might be of interest to use messages with header information as well. I am saying so because having information like when a particular data was published is useful when subscribing to multiple topics to carry out an action so that data retrieved is in-sync. For instance, in stereo vision, we need to have image messages published in the same instant by the sensors.

For buoy task, the message should of the form PointStamped instead of Float32MultiArray. You can also look into tf2 as an alternate option. This would allow also visualization of the measured buoy location in rviz using markers.

In the hardware_arduino package, all the header files are included awkwardly, that is they are of the form:

#include "../include/Motor.h"

Instead of that, it should be #include "Motor.h". One way to resolve that is linking libraries and specifying the rules in the CMakeLists properly. It is open to other suggestions.