Object Detection

Summary

This node is responsible for detecting buoys and baoats while in the water, which includes calculating the angle and distance. To detect the buoys, our system uses a computer vision model based on Ultralytics Yolo11. We use the Ultralytics results object to retrieve any information about object detections. We also use ROS2 to publish the angle to the buoy, the depth distance to the buoy as well as a list of detection results that involve the cnofidence value, relative x-position, and relative y-position of the detrected bounding boxes.