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Hi, I've taken the recently released libpixyusb from Charmed Labs' pixy repository & made a ROS node around it. At the time of this writing, it only supports USB streaming of plain signiture & color-code block data. It will also subscribe to a servo command topic and move the servos for pan-tilt... though I don't have any demo for that (yet).

Here is a link to my source code. I welcome any feedback and/or collaboration from interested users. I've already created a to-do list on the github page of features I'd like to add. Please feel free to add suggestions there.