About

This repo is to host ROS2 nodes for additional utilities and extra functionality.

Utilities

The following are the nodes currently available:

• keyoard_teleop: Publish a Twist command to a topic (default: /cmd_vel). Usage:

  $ source /opt/ros/foxy/setup.bash
  $ source /path/to/workspace/install/local_setup.bash
  $ ros2 run rif-ros2-utils keyboard_teleop --ros-args -r /cmd_vel:=[NEW TOPIC NAME]
  

• compress_image: Subscribe to a sensor_msgs/Image topic, compress the image, and publish to a sensor_msgs/CompressedImage topic.