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Vortex Utility Nodes

A collection of lightweight ROS2 utility nodes for testing, debugging, and operating the Vortex AUV. These are standalone helper nodes not core pipeline components. Use them to inspect data, convert formats, or bridge gaps during development and field operations.

Nodes

Node Description
message_publisher Subscribes to odometry (resolved from config) and publishes odometry pose in Euler angles (x, y, z, roll, pitch, yaw).

Build

colcon build --packages-select vortex_utility_nodes
source install/setup.bash

Run

ros2 launch vortex_utility_nodes message_publisher.launch.py

Adding New Nodes

  1. Create your node source file in src/
  2. Add an add_executable entry in CMakeLists.txt
  3. Add the install target to lib/${PROJECT_NAME}
  4. Update this table

Current Dependencies

  • rclcpp
  • nav_msgs
  • vortex_msgs
  • vortex_utils
  • Eigen3