iridescence_ros

iridescence_ros provides ROS integration for the Iridescence visualization toolkit. It includes a lightweight GUI based on ImGui that allows you to view and publish ROS topics directly from an interactive window.

Features

• Viewer integration – uses Iridescence's OpenGL viewer to display ROS data.
• ROS Topic Manager – browse available ROS topics and subscribe to image streams.
• Pseudo Image Publisher – publish an image from disk on a user-specified topic.
• Robot control mode – choose between manual and autonomous modes from the main panel.
• Font Awesome and Material Symbols – embedded icon fonts for a modern interface.

Installation

These instructions assume ROS Noetic on Ubuntu. The project also depends on iridescence, PCL, OpenCV and other common libraries.

1. Clone the repository and its submodules:

git clone --recursive https://github.com/Seekerzero/iridescence_ros.git
cd iridescence_ros

2. Install dependencies (replace $ROS_DISTRO with your ROS version name):

sudo apt-get install ros-$ROS_DISTRO-roscpp ros-$ROS_DISTRO-rospy ros-$ROS_DISTRO-std-msgs ros-$ROS_DISTRO-cv-bridge libpcl-dev libeigen3-dev libjpeg-dev libpng-dev

Ensure the Iridescence library is installed on your system so CMake can find it.

3. Build with catkin:

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
ln -s /path/to/iridescence_ros .
cd ..
catkin_make

4. Source the workspace and run the viewer:

source devel/setup.bash
rosrun iridescence_ros_tools viewer

License

This project is released under the MIT License. See LICENSE for details.