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