ROS2

The ROS2 node bridges Thalamus to a ROS 2 system. It is a transformer that republishes data from Thalamus nodes onto ROS 2 topics (and TF2 frames), so that robots and other ROS 2 components can consume Thalamus data in real time.

Usage

Add the Thalamus nodes you want to bridge under the node’s Sources. For each source you configure the ROS 2 topics it should be published to:

• Image Topic: Topic to publish the source’s image stream on.

• Camera Info Topic: Topic to publish the associated camera calibration info on.

• Gaze Topic: Topic to publish gaze / coordinate data on.

Leave a topic blank to skip publishing that stream for a given source.