IQUA - Version COLA2 -Component Oriented Layer-based Architecture Software

COLA2 (Component Oriented Layer-based Architecture for Autonomy) is the ROS-based software architecture running in the underwater vehicles from Iqua Robotics. It includes a full control stack, a localization module with a navigation filter, a set of safety-related nodes and all the necessary drivers to communicate with the available hardware. Thus, COLA2 endows Iqua vehicles with a complete software suite that turns them in fully operational AUVs. Besides, it also sets the basis for further development of more advanced functions.