This ROS stack provides a collection of communication tools that allow for advanced topic interactions and other functionalities within the ROS ecosystem.

The ros_comm_tools stack currently comprises the following package(s):

• add_topic_tools:
  • Nodes:
    • Triggered Publisher: Subscribe to a topic and republish its content to another topic upon a user-defined trigger, such as pressing a button.

More packages and nodes will be added to this stack in the future to further enhance its capabilities.

• Triggered Republishing: As part of the add_topic_tools package, you can use the Triggered Publisher node to subscribe to a sensor_msgs/Image topic and republish its content based on manual keyboard triggers.

• ROS Noetic (though it might work with other ROS versions, it's only been tested on Noetic)

1. Clone this package into your catkin workspace's src directory.

   cd ~/your_catkin_workspace/src
   git clone https://github.com/SMRazaRizvi96/ros_comm_tools.git

2. Compile your catkin workspace.

    cd ~/your_catkin_workspace
    catkin_make

3. Source your workspace's setup.bash:

   source devel/setup.bash

1. Start the ROS core:

   roscore

2. Run the Triggered Publisher node from the add_topic_tools package:

   rosrun add_topic_tools triggered_publisher.py

3. Follow the prompts to trigger republishing of messages.

The Triggered Publisher node from the add_topic_tools package supports the following ROS parameters:

• ~input_topic : Name of the topic to subscribe to. Default: /camera/image_raw
• ~output_topic : Name of the topic to publish messages to. Default: /camera/image_raw

Parameters can be set via the command line using rosparam, through a ROS launch file, or as command line parameters when running the node through rosrun.

Feel free to open issues or pull requests if you want to improve the package or add new functionalities.