build and source the environment: ~ colcon build, ~source install/setup.bash
launch the gazebo simulation with the vessel world: ~ros2 launch my_robot_bringup robot.launch.py
run corner detection: ~ros2 run object_detection detect_corner_node
run slime detection node: ~ros2 run object_detection slime_detection node
run mapping node: ~ros2 run object_detection mapping_node
run hole detection node: ~ros2 run object_detection hole_detection_bode
running the laser_detection_segments.py: cd /nakai_sim/src/object_detection/object_detection/laser_detection$ python3 laser_detection_segments.py