Ianvs

Ianvs (Janus) is a ROS2 c++ package that provides a transition path for common ROS1 design patterns that aren't as easily supported in ROS2.

This includes:

• A NodeHandle class that works with any ROS2 NodeBase implementation and provides namespaced access to underyling node
• Utility functions for handling getting single messages
• Specialized image publishers and subscribers that work with message filters

Ianvs is intended to only depend on a very select number of core ROS2 dependencies. These are currently:

• message_filters
• rclcpp
• std_srvs
• sensor_msgs

About the Name

Ianvs is the latin spelling of Janus, the Roman deity of doorways and transitions