This repo needs a re-write to clearly disambiguate in the code, comments, and documentation, the difference between a CUBE node (a software object for each location at which hypotheses are generated), and a ROS node (the software process doing the gridding), a Bathymetric Attributed Grid (BAG) (a file format for holding bathymetric data and its associated uncertainty) and a ROS BAG log file (which holds all manner of ROS topic data (which may include soundings or event a bathymetric surface)). It is unfortunate that the terminology overlaps so much for these very different things and very important to clearly distinguish between them.
This repo needs a re-write to clearly disambiguate in the code, comments, and documentation, the difference between a CUBE node (a software object for each location at which hypotheses are generated), and a ROS node (the software process doing the gridding), a Bathymetric Attributed Grid (BAG) (a file format for holding bathymetric data and its associated uncertainty) and a ROS BAG log file (which holds all manner of ROS topic data (which may include soundings or event a bathymetric surface)). It is unfortunate that the terminology overlaps so much for these very different things and very important to clearly distinguish between them.