VikingX/vision_opencv
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Allows one to create "nodelets" -- ROS node-like entities that run within the same process so as to avoid IPC and serialization overhead
Part of https://github.com/ros/geometry/, with Python and others removed to compile in Android.
Provides a standardized interface for interfacing with preemptable tasks. Examples of this include moving the base to a target location, performing a laser scan and returning the resulting point cloud, detecting the handle of a door, etc.