Simple services that we can use to consolidate globally useful functions with.
A simple dubins path planner made into a service node.
A basic sidescan sonar viewing package to look at waterfalls.
ROS<->MQTT JSON Formatted string bridge. Mostly useful for waraps-related stuff.
Main usefulness is that this avoids the {"data":...} thing that happens with the mqtt_bridge when bridging std_msgs::Strings.
Package that provides python objects and ros services for conversions. Usually easiest to import straight and use without getting ROS involved.