marvelmind_ros2_upstream Credits Special thanks to Carson Loyal (mailto: ctl0021@auburn.edu), an original author of this ROS2 package implementation. Original source code of the package is available by the link: https://drive.google.com/file/d/1R5RfeAG1CbsC296TrZgwc1sQUx_sHGKC/view?usp=sharing