The fusion node is responsible for taking the outputs of our SLAM system and the output of our object detection system, combining them, and publishing the results to the /tf topic.

Subscribes to:

• /vision/left - Object detections for left camera
• /SLAMpoints - Points for objects detected in SLAM

Publishes to:

• /tf - Global coordinates provided by SLAM combined with the labels from object detection

Relies on the orb_slam node and the object detection node, as well as all their dependencies. To run, execute the following command from any directory:

$ rosrun robosub fusion