Skip to content

ROS Nodes Summary

This document summarizes all of the ROS nodes in ADORe, always review each README.md for the complete documentation for a given node. all ROS nodes are located in ros2_workspace/src

Package: ros2_hello_world

  • Node: ros2_hello_world
  • Location: example_nodes/ros2_hello_world
  • Summary: # ros2_hello_world This is a minimal ROS2 Hello, World program incorporating a GNU Makefile and unit tests with gunit. This node/program provides a GNU Makefile for building, testing, and running. Use this node as a template for creating new c++ nodes in ADORe. 1. Build the package with: bash make build 2. Test the node: bash make test 3. Run the node: bash make run

Package: zenoh_message_bridge

  • Node: zenoh_message_bridge
  • Location: adore_interfaces/zenoh_message_bridge
  • Summary: # zenoh_message_bridge ROS 2 bridge node that forwards messages between ROS 2 DDS topics and a Zenoh keyspace using CDR serialization via rclpy.serialization.

Package: ros_image_streamer

  • Node: ros_image_streamer
  • Location: adore_interfaces/ros_image_streamer
  • Summary: # ros_image_streamer Two ROS 2 nodes for capturing and displaying video streams. The streaming node publishes sensor_msgs/Image from a local V4L2 device or an FFmpeg source. The viewer node subscribes to the topic and displays it in an OpenCV window.

Package: mqtt_message_bridge

  • Node: mqtt_message_bridge
  • Location: adore_interfaces/mqtt_message_bridge
  • Summary: # mqtt_message_bridge ROS 2 bridge node that forwards messages between ROS 2 topics and an MQTT broker. Serialization is CDR via rclpy.serialization.

Package: hardware_monitor

  • Node: hardware_monitor
  • Location: adore_interfaces/hardware_monitor
  • Summary: # hardware_monitor ROS 2 package that publishes hardware inventory and runtime status for every node in a cluster. Designed to be consumed by the ADORe Mission Control dashboard or any subscriber.