diff --git a/install/bcr_bot/share/ament_index/resource_index/parent_prefix_path/bcr_bot b/install/bcr_bot/share/ament_index/resource_index/parent_prefix_path/bcr_bot
index 6350bc1..d9635cf 100644
--- a/install/bcr_bot/share/ament_index/resource_index/parent_prefix_path/bcr_bot
+++ b/install/bcr_bot/share/ament_index/resource_index/parent_prefix_path/bcr_bot
@@ -1 +1 @@
-/opt/ros/humble
\ No newline at end of file
+/workspace/install/ros_viz_adapter:/workspace/install/bcr_bot:/opt/ros/humble
\ No newline at end of file
diff --git a/install/bcr_bot/share/bcr_bot/launch/bcr_bot_gazebo_spawn.launch.py b/install/bcr_bot/share/bcr_bot/launch/bcr_bot_gazebo_spawn.launch.py
index 9cc11f5..eb61507 100644
--- a/install/bcr_bot/share/bcr_bot/launch/bcr_bot_gazebo_spawn.launch.py
+++ b/install/bcr_bot/share/bcr_bot/launch/bcr_bot_gazebo_spawn.launch.py
@@ -25,7 +25,7 @@ def generate_launch_description():
     position_y = LaunchConfiguration("position_y")
     orientation_yaw = LaunchConfiguration("orientation_yaw")
     camera_enabled = LaunchConfiguration("camera_enabled", default=True)
-    stereo_camera_enabled = LaunchConfiguration("stereo_camera_enabled", default=False)
+    stereo_camera_enabled = LaunchConfiguration("stereo_camera_enabled", default=True)
     two_d_lidar_enabled = LaunchConfiguration("two_d_lidar_enabled", default=True)
     odometry_source = LaunchConfiguration("odometry_source", default="world")
     robot_namespace = LaunchConfiguration("robot_namespace", default='bcr_bot')
diff --git a/install/bcr_bot/share/bcr_bot/launch/bcr_bot_gz_spawn.launch.py b/install/bcr_bot/share/bcr_bot/launch/bcr_bot_gz_spawn.launch.py
index 6faec90..3be3750 100644
--- a/install/bcr_bot/share/bcr_bot/launch/bcr_bot_gz_spawn.launch.py
+++ b/install/bcr_bot/share/bcr_bot/launch/bcr_bot_gz_spawn.launch.py
@@ -23,7 +23,7 @@ def generate_launch_description():
     position_y = LaunchConfiguration("position_y")
     orientation_yaw = LaunchConfiguration("orientation_yaw")
     camera_enabled = LaunchConfiguration("camera_enabled", default=True)
-    stereo_camera_enabled = LaunchConfiguration("stereo_camera_enabled", default=False)
+    stereo_camera_enabled = LaunchConfiguration("stereo_camera_enabled", default=True)
     two_d_lidar_enabled = LaunchConfiguration("two_d_lidar_enabled", default=True)
     odometry_source = LaunchConfiguration("odometry_source")
 
@@ -126,4 +126,4 @@ def generate_launch_description():
         DeclareLaunchArgument("odometry_source", default_value="world"),
         robot_state_publisher,
         gz_spawn_entity, transform_publisher, gz_ros2_bridge
-    ])
\ No newline at end of file
+    ])
diff --git a/install/bcr_bot/share/bcr_bot/launch/bcr_bot_ign_spawn.launch.py b/install/bcr_bot/share/bcr_bot/launch/bcr_bot_ign_spawn.launch.py
index e7671d3..ba7ee63 100644
--- a/install/bcr_bot/share/bcr_bot/launch/bcr_bot_ign_spawn.launch.py
+++ b/install/bcr_bot/share/bcr_bot/launch/bcr_bot_ign_spawn.launch.py
@@ -23,7 +23,7 @@ def generate_launch_description():
     position_y = LaunchConfiguration("position_y")
     orientation_yaw = LaunchConfiguration("orientation_yaw")
     camera_enabled = LaunchConfiguration("camera_enabled", default=True)
-    stereo_camera_enabled = LaunchConfiguration("stereo_camera_enabled", default=False)
+    stereo_camera_enabled = LaunchConfiguration("stereo_camera_enabled", default=True)
     two_d_lidar_enabled = LaunchConfiguration("two_d_lidar_enabled", default=True)
     odometry_source = LaunchConfiguration("odometry_source")
 
diff --git a/install/bcr_bot/share/bcr_bot/urdf/bcr_bot.xacro b/install/bcr_bot/share/bcr_bot/urdf/bcr_bot.xacro
index 7cac6a9..0575ce4 100644
--- a/install/bcr_bot/share/bcr_bot/urdf/bcr_bot.xacro
+++ b/install/bcr_bot/share/bcr_bot/urdf/bcr_bot.xacro
@@ -38,7 +38,7 @@
     <xacro:arg name="robot_namespace" default=""/>
     <xacro:arg name="wheel_odom_topic" default="odom" />
     <xacro:arg name="camera_enabled" default="false" />
-    <xacro:arg name="stereo_camera_enabled" default="false" />
+    <xacro:arg name="stereo_camera_enabled" default="true" />
     <xacro:arg name="two_d_lidar_enabled" default="false" />
     <xacro:arg name="publish_wheel_odom_tf" default="true" />
     <xacro:arg name="conveyor_enabled" default="false"/>
diff --git a/install/ros_viz_adapter/lib/ros_viz_adapter/adapter b/install/ros_viz_adapter/lib/ros_viz_adapter/adapter
new file mode 100755
index 0000000..42c1888
Binary files /dev/null and b/install/ros_viz_adapter/lib/ros_viz_adapter/adapter differ
diff --git a/install/ros_viz_adapter/share/ament_index/resource_index/package_run_dependencies/ros_viz_adapter b/install/ros_viz_adapter/share/ament_index/resource_index/package_run_dependencies/ros_viz_adapter
new file mode 100644
index 0000000..3ac77eb
--- /dev/null
+++ b/install/ros_viz_adapter/share/ament_index/resource_index/package_run_dependencies/ros_viz_adapter
@@ -0,0 +1 @@
+rclcpp;sensor_msgs;image_transport;pluginlib;compressed_image_transport;compressed_depth_image_transport
\ No newline at end of file
diff --git a/install/ros_viz_adapter/share/ament_index/resource_index/packages/ros_viz_adapter b/install/ros_viz_adapter/share/ament_index/resource_index/packages/ros_viz_adapter
new file mode 100644
index 0000000..e69de29
diff --git a/install/ros_viz_adapter/share/ament_index/resource_index/parent_prefix_path/ros_viz_adapter b/install/ros_viz_adapter/share/ament_index/resource_index/parent_prefix_path/ros_viz_adapter
new file mode 100644
index 0000000..d9635cf
--- /dev/null
+++ b/install/ros_viz_adapter/share/ament_index/resource_index/parent_prefix_path/ros_viz_adapter
@@ -0,0 +1 @@
+/workspace/install/ros_viz_adapter:/workspace/install/bcr_bot:/opt/ros/humble
\ No newline at end of file
diff --git a/install/ros_viz_adapter/share/colcon-core/packages/ros_viz_adapter b/install/ros_viz_adapter/share/colcon-core/packages/ros_viz_adapter
new file mode 100644
index 0000000..c35dc2b
--- /dev/null
+++ b/install/ros_viz_adapter/share/colcon-core/packages/ros_viz_adapter
@@ -0,0 +1 @@
+compressed_depth_image_transport:compressed_image_transport:image_transport:pluginlib:rclcpp:sensor_msgs
\ No newline at end of file
diff --git a/install/ros_viz_adapter/share/ros_viz_adapter/README.md b/install/ros_viz_adapter/share/ros_viz_adapter/README.md
new file mode 100644
index 0000000..bcf981e
--- /dev/null
+++ b/install/ros_viz_adapter/share/ros_viz_adapter/README.md
@@ -0,0 +1,93 @@
+# ros_viz_adapter
+
+通用 ROS 2 可视化发布适配器，不需要用户修改原始话题名称，也不需要
+YAML 配置文件。节点自动发现 `sensor_msgs/msg/Image` 和
+`sensor_msgs/msg/PointCloud2`，并把结果发布到 `/viz` 命名空间。
+
+## 输出
+
+- RGB：直接加载 `image_transport/compressed_pub`，插件发布
+  `/viz/<source>/rgb/compressed`，不创建 raw base topic。
+- 深度：直接加载 `image_transport/compressedDepth_pub`，插件发布
+  `/viz/<source>/depth/compressedDepth`，不创建 raw base topic。
+- 点云：`/viz/<source>/points`，消息仍为 `sensor_msgs/msg/PointCloud2`，但只保留
+  `x/y/z`，去除 NaN，执行体素降采样、最大点数限制和限频。
+
+图像依据 `encoding` 分类：`rgb8/bgr8/rgba8/bgra8/mono8` 为 RGB，
+`16UC1/32FC1/mono16/32SC1` 为深度。RGB、深度、点云各使用一个独立处理线程；
+不存在对应数据类型时，不创建该线程。
+
+## 运行
+
+```bash
+colcon build --packages-select ros_viz_adapter --symlink-install
+ros2 launch ros_viz_adapter adapter.launch.py
+```
+
+参数：
+
+```text
+output_namespace      默认 /viz
+input_fps_limit       默认 30，回调入口丢弃超频帧
+output_fps            默认 10，处理线程输出上限
+jpeg_quality          默认 80，范围 1-100
+voxel_size_m          默认 0.05
+max_points            默认 100000
+```
+
+QoS 为 `BEST_EFFORT + KEEP_LAST + depth=1`。限频降低的是适配器处理、网络和
+平台负载；如果还要降低源容器 CPU，应同时调整相机/上游发布频率。
+
+## 在其他项目中接入
+
+### 同一个 colcon 工作空间
+
+把本包目录放到项目工作空间的 `src/` 下，然后正常构建：
+
+```bash
+cd <workspace>
+colcon build --symlink-install
+source install/setup.bash
+ros2 launch ros_viz_adapter adapter.launch.py
+```
+
+不需要修改原始 RGB、深度或点云节点。适配器会在同一个 ROS domain 中发现传感器话题，
+并发布 `/viz/...`。
+
+### 在项目 launch 中启动
+
+也可以在项目自己的 launch 文件中包含适配器：
+
+```python
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch_ros.substitutions import FindPackageShare
+
+viz_adapter = IncludeLaunchDescription(
+    PythonLaunchDescriptionSource([
+        FindPackageShare('ros_viz_adapter'), '/launch/adapter.launch.py'
+    ])
+)
+```
+
+将 `viz_adapter` 放入项目的 `LaunchDescription` 即可。也可以直接运行：
+
+```bash
+ros2 run ros_viz_adapter adapter
+```
+
+### 独立 ROS 容器或 sidecar
+
+适配器容器与用户容器必须使用相同的 `ROS_DOMAIN_ID`、`RMW_IMPLEMENTATION` 和可互相发现的
+ROS 2 网络。适配器容器只需安装本包、`compressed_image_transport` 和
+`compressed_depth_image_transport`，不需要复制用户项目代码。代码只加载上述两个
+指定插件，不遍历或加载 Theora 插件。
+
+### 多容器隔离
+
+为避免不同容器输出重名，可以指定不同 namespace：
+
+```bash
+ros2 launch ros_viz_adapter adapter.launch.py \
+  output_namespace:=/viz/robot_01
+```
diff --git a/install/ros_viz_adapter/share/ros_viz_adapter/cmake/ros_viz_adapterConfig-version.cmake b/install/ros_viz_adapter/share/ros_viz_adapter/cmake/ros_viz_adapterConfig-version.cmake
new file mode 100644
index 0000000..0b5f063
--- /dev/null
+++ b/install/ros_viz_adapter/share/ros_viz_adapter/cmake/ros_viz_adapterConfig-version.cmake
@@ -0,0 +1,14 @@
+# generated from ament/cmake/core/templates/nameConfig-version.cmake.in
+set(PACKAGE_VERSION "0.2.0")
+
+set(PACKAGE_VERSION_EXACT False)
+set(PACKAGE_VERSION_COMPATIBLE False)
+
+if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}")
+  set(PACKAGE_VERSION_EXACT True)
+  set(PACKAGE_VERSION_COMPATIBLE True)
+endif()
+
+if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}")
+  set(PACKAGE_VERSION_COMPATIBLE True)
+endif()
diff --git a/install/ros_viz_adapter/share/ros_viz_adapter/cmake/ros_viz_adapterConfig.cmake b/install/ros_viz_adapter/share/ros_viz_adapter/cmake/ros_viz_adapterConfig.cmake
new file mode 100644
index 0000000..a96363b
--- /dev/null
+++ b/install/ros_viz_adapter/share/ros_viz_adapter/cmake/ros_viz_adapterConfig.cmake
@@ -0,0 +1,42 @@
+# generated from ament/cmake/core/templates/nameConfig.cmake.in
+
+# prevent multiple inclusion
+if(_ros_viz_adapter_CONFIG_INCLUDED)
+  # ensure to keep the found flag the same
+  if(NOT DEFINED ros_viz_adapter_FOUND)
+    # explicitly set it to FALSE, otherwise CMake will set it to TRUE
+    set(ros_viz_adapter_FOUND FALSE)
+  elseif(NOT ros_viz_adapter_FOUND)
+    # use separate condition to avoid uninitialized variable warning
+    set(ros_viz_adapter_FOUND FALSE)
+  endif()
+  return()
+endif()
+set(_ros_viz_adapter_CONFIG_INCLUDED TRUE)
+
+# output package information
+if(NOT ros_viz_adapter_FIND_QUIETLY)
+  message(STATUS "Found ros_viz_adapter: 0.2.0 (${ros_viz_adapter_DIR})")
+endif()
+
+# warn when using a deprecated package
+if(NOT "" STREQUAL "")
+  set(_msg "Package 'ros_viz_adapter' is deprecated")
+  # append custom deprecation text if available
+  if(NOT "" STREQUAL "TRUE")
+    set(_msg "${_msg} ()")
+  endif()
+  # optionally quiet the deprecation message
+  if(NOT ${ros_viz_adapter_DEPRECATED_QUIET})
+    message(DEPRECATION "${_msg}")
+  endif()
+endif()
+
+# flag package as ament-based to distinguish it after being find_package()-ed
+set(ros_viz_adapter_FOUND_AMENT_PACKAGE TRUE)
+
+# include all config extra files
+set(_extras "")
+foreach(_extra ${_extras})
+  include("${ros_viz_adapter_DIR}/${_extra}")
+endforeach()
diff --git a/install/ros_viz_adapter/share/ros_viz_adapter/environment/ament_prefix_path.dsv b/install/ros_viz_adapter/share/ros_viz_adapter/environment/ament_prefix_path.dsv
new file mode 100644
index 0000000..79d4c95
--- /dev/null
+++ b/install/ros_viz_adapter/share/ros_viz_adapter/environment/ament_prefix_path.dsv
@@ -0,0 +1 @@
+prepend-non-duplicate;AMENT_PREFIX_PATH;
diff --git a/install/ros_viz_adapter/share/ros_viz_adapter/environment/ament_prefix_path.sh b/install/ros_viz_adapter/share/ros_viz_adapter/environment/ament_prefix_path.sh
new file mode 100644
index 0000000..02e441b
--- /dev/null
+++ b/install/ros_viz_adapter/share/ros_viz_adapter/environment/ament_prefix_path.sh
@@ -0,0 +1,4 @@
+# copied from
+# ament_cmake_core/cmake/environment_hooks/environment/ament_prefix_path.sh
+
+ament_prepend_unique_value AMENT_PREFIX_PATH "$AMENT_CURRENT_PREFIX"
diff --git a/install/ros_viz_adapter/share/ros_viz_adapter/environment/path.dsv b/install/ros_viz_adapter/share/ros_viz_adapter/environment/path.dsv
new file mode 100644
index 0000000..b94426a
--- /dev/null
+++ b/install/ros_viz_adapter/share/ros_viz_adapter/environment/path.dsv
@@ -0,0 +1 @@
+prepend-non-duplicate-if-exists;PATH;bin
diff --git a/install/ros_viz_adapter/share/ros_viz_adapter/environment/path.sh b/install/ros_viz_adapter/share/ros_viz_adapter/environment/path.sh
new file mode 100644
index 0000000..e59b749
--- /dev/null
+++ b/install/ros_viz_adapter/share/ros_viz_adapter/environment/path.sh
@@ -0,0 +1,5 @@
+# copied from ament_cmake_core/cmake/environment_hooks/environment/path.sh
+
+if [ -d "$AMENT_CURRENT_PREFIX/bin" ]; then
+  ament_prepend_unique_value PATH "$AMENT_CURRENT_PREFIX/bin"
+fi
diff --git a/install/ros_viz_adapter/share/ros_viz_adapter/hook/cmake_prefix_path.dsv b/install/ros_viz_adapter/share/ros_viz_adapter/hook/cmake_prefix_path.dsv
new file mode 100644
index 0000000..e119f32
--- /dev/null
+++ b/install/ros_viz_adapter/share/ros_viz_adapter/hook/cmake_prefix_path.dsv
@@ -0,0 +1 @@
+prepend-non-duplicate;CMAKE_PREFIX_PATH;
diff --git a/install/ros_viz_adapter/share/ros_viz_adapter/hook/cmake_prefix_path.ps1 b/install/ros_viz_adapter/share/ros_viz_adapter/hook/cmake_prefix_path.ps1
new file mode 100644
index 0000000..d03facc
--- /dev/null
+++ b/install/ros_viz_adapter/share/ros_viz_adapter/hook/cmake_prefix_path.ps1
@@ -0,0 +1,3 @@
+# generated from colcon_powershell/shell/template/hook_prepend_value.ps1.em
+
+colcon_prepend_unique_value CMAKE_PREFIX_PATH "$env:COLCON_CURRENT_PREFIX"
diff --git a/install/ros_viz_adapter/share/ros_viz_adapter/hook/cmake_prefix_path.sh b/install/ros_viz_adapter/share/ros_viz_adapter/hook/cmake_prefix_path.sh
new file mode 100644
index 0000000..a948e68
--- /dev/null
+++ b/install/ros_viz_adapter/share/ros_viz_adapter/hook/cmake_prefix_path.sh
@@ -0,0 +1,3 @@
+# generated from colcon_core/shell/template/hook_prepend_value.sh.em
+
+_colcon_prepend_unique_value CMAKE_PREFIX_PATH "$COLCON_CURRENT_PREFIX"
diff --git a/install/ros_viz_adapter/share/ros_viz_adapter/launch/adapter.launch.py b/install/ros_viz_adapter/share/ros_viz_adapter/launch/adapter.launch.py
new file mode 100644
index 0000000..f822e51
--- /dev/null
+++ b/install/ros_viz_adapter/share/ros_viz_adapter/launch/adapter.launch.py
@@ -0,0 +1,17 @@
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+    return LaunchDescription([
+        DeclareLaunchArgument('output_namespace', default_value='/viz'),
+        Node(
+            package='ros_viz_adapter', executable='adapter',
+            name='ros_viz_adapter', output='screen',
+            parameters=[{
+                'output_namespace': LaunchConfiguration('output_namespace'),
+            }],
+        ),
+    ])
diff --git a/install/ros_viz_adapter/share/ros_viz_adapter/local_setup.bash b/install/ros_viz_adapter/share/ros_viz_adapter/local_setup.bash
new file mode 100644
index 0000000..49782f2
--- /dev/null
+++ b/install/ros_viz_adapter/share/ros_viz_adapter/local_setup.bash
@@ -0,0 +1,46 @@
+# generated from ament_package/template/package_level/local_setup.bash.in
+
+# source local_setup.sh from same directory as this file
+_this_path=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`" && pwd)
+# provide AMENT_CURRENT_PREFIX to shell script
+AMENT_CURRENT_PREFIX=$(builtin cd "`dirname "${BASH_SOURCE[0]}"`/../.." && pwd)
+# store AMENT_CURRENT_PREFIX to restore it before each environment hook
+_package_local_setup_AMENT_CURRENT_PREFIX=$AMENT_CURRENT_PREFIX
+
+# trace output
+if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then
+  echo "# . \"$_this_path/local_setup.sh\""
+fi
+. "$_this_path/local_setup.sh"
+unset _this_path
+
+# unset AMENT_ENVIRONMENT_HOOKS
+# if not appending to them for return
+if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
+  unset AMENT_ENVIRONMENT_HOOKS
+fi
+
+# restore AMENT_CURRENT_PREFIX before evaluating the environment hooks
+AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
+# list all environment hooks of this package
+
+# source all shell-specific environment hooks of this package
+# if not returning them
+if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
+  _package_local_setup_IFS=$IFS
+  IFS=":"
+  for _hook in $AMENT_ENVIRONMENT_HOOKS; do
+    # restore AMENT_CURRENT_PREFIX for each environment hook
+    AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
+    # restore IFS before sourcing other files
+    IFS=$_package_local_setup_IFS
+    . "$_hook"
+  done
+  unset _hook
+  IFS=$_package_local_setup_IFS
+  unset _package_local_setup_IFS
+  unset AMENT_ENVIRONMENT_HOOKS
+fi
+
+unset _package_local_setup_AMENT_CURRENT_PREFIX
+unset AMENT_CURRENT_PREFIX
diff --git a/install/ros_viz_adapter/share/ros_viz_adapter/local_setup.dsv b/install/ros_viz_adapter/share/ros_viz_adapter/local_setup.dsv
new file mode 100644
index 0000000..caf412a
--- /dev/null
+++ b/install/ros_viz_adapter/share/ros_viz_adapter/local_setup.dsv
@@ -0,0 +1,2 @@
+source;share/ros_viz_adapter/environment/ament_prefix_path.sh
+source;share/ros_viz_adapter/environment/path.sh
diff --git a/install/ros_viz_adapter/share/ros_viz_adapter/local_setup.sh b/install/ros_viz_adapter/share/ros_viz_adapter/local_setup.sh
new file mode 100644
index 0000000..ab4af87
--- /dev/null
+++ b/install/ros_viz_adapter/share/ros_viz_adapter/local_setup.sh
@@ -0,0 +1,184 @@
+# generated from ament_package/template/package_level/local_setup.sh.in
+
+# since this file is sourced use either the provided AMENT_CURRENT_PREFIX
+# or fall back to the destination set at configure time
+: ${AMENT_CURRENT_PREFIX:="/workspace/install/ros_viz_adapter"}
+if [ ! -d "$AMENT_CURRENT_PREFIX" ]; then
+  if [ -z "$COLCON_CURRENT_PREFIX" ]; then
+    echo "The compile time prefix path '$AMENT_CURRENT_PREFIX' doesn't " \
+      "exist. Consider sourcing a different extension than '.sh'." 1>&2
+  else
+    AMENT_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
+  fi
+fi
+
+# function to append values to environment variables
+# using colons as separators and avoiding leading separators
+ament_append_value() {
+  # arguments
+  _listname="$1"
+  _value="$2"
+  #echo "listname $_listname"
+  #eval echo "list value \$$_listname"
+  #echo "value $_value"
+
+  # avoid leading separator
+  eval _values=\"\$$_listname\"
+  if [ -z "$_values" ]; then
+    eval export $_listname=\"$_value\"
+    #eval echo "set list \$$_listname"
+  else
+    # field separator must not be a colon
+    _ament_append_value_IFS=$IFS
+    unset IFS
+    eval export $_listname=\"\$$_listname:$_value\"
+    #eval echo "append list \$$_listname"
+    IFS=$_ament_append_value_IFS
+    unset _ament_append_value_IFS
+  fi
+  unset _values
+
+  unset _value
+  unset _listname
+}
+
+# function to append non-duplicate values to environment variables
+# using colons as separators and avoiding leading separators
+ament_append_unique_value() {
+  # arguments
+  _listname=$1
+  _value=$2
+  #echo "listname $_listname"
+  #eval echo "list value \$$_listname"
+  #echo "value $_value"
+
+  # check if the list contains the value
+  eval _values=\$$_listname
+  _duplicate=
+  _ament_append_unique_value_IFS=$IFS
+  IFS=":"
+  if [ "$AMENT_SHELL" = "zsh" ]; then
+    ament_zsh_to_array _values
+  fi
+  for _item in $_values; do
+    # ignore empty strings
+    if [ -z "$_item" ]; then
+      continue
+    fi
+    if [ $_item = $_value ]; then
+      _duplicate=1
+    fi
+  done
+  unset _item
+
+  # append only non-duplicates
+  if [ -z "$_duplicate" ]; then
+    # avoid leading separator
+    if [ -z "$_values" ]; then
+      eval $_listname=\"$_value\"
+      #eval echo "set list \$$_listname"
+    else
+      # field separator must not be a colon
+      unset IFS
+      eval $_listname=\"\$$_listname:$_value\"
+      #eval echo "append list \$$_listname"
+    fi
+  fi
+  IFS=$_ament_append_unique_value_IFS
+  unset _ament_append_unique_value_IFS
+  unset _duplicate
+  unset _values
+
+  unset _value
+  unset _listname
+}
+
+# function to prepend non-duplicate values to environment variables
+# using colons as separators and avoiding trailing separators
+ament_prepend_unique_value() {
+  # arguments
+  _listname="$1"
+  _value="$2"
+  #echo "listname $_listname"
+  #eval echo "list value \$$_listname"
+  #echo "value $_value"
+
+  # check if the list contains the value
+  eval _values=\"\$$_listname\"
+  _duplicate=
+  _ament_prepend_unique_value_IFS=$IFS
+  IFS=":"
+  if [ "$AMENT_SHELL" = "zsh" ]; then
+    ament_zsh_to_array _values
+  fi
+  for _item in $_values; do
+    # ignore empty strings
+    if [ -z "$_item" ]; then
+      continue
+    fi
+    if [ "$_item" = "$_value" ]; then
+      _duplicate=1
+    fi
+  done
+  unset _item
+
+  # prepend only non-duplicates
+  if [ -z "$_duplicate" ]; then
+    # avoid trailing separator
+    if [ -z "$_values" ]; then
+      eval export $_listname=\"$_value\"
+      #eval echo "set list \$$_listname"
+    else
+      # field separator must not be a colon
+      unset IFS
+      eval export $_listname=\"$_value:\$$_listname\"
+      #eval echo "prepend list \$$_listname"
+    fi
+  fi
+  IFS=$_ament_prepend_unique_value_IFS
+  unset _ament_prepend_unique_value_IFS
+  unset _duplicate
+  unset _values
+
+  unset _value
+  unset _listname
+}
+
+# unset AMENT_ENVIRONMENT_HOOKS
+# if not appending to them for return
+if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
+  unset AMENT_ENVIRONMENT_HOOKS
+fi
+
+# list all environment hooks of this package
+ament_append_value AMENT_ENVIRONMENT_HOOKS "$AMENT_CURRENT_PREFIX/share/ros_viz_adapter/environment/ament_prefix_path.sh"
+ament_append_value AMENT_ENVIRONMENT_HOOKS "$AMENT_CURRENT_PREFIX/share/ros_viz_adapter/environment/path.sh"
+
+# source all shell-specific environment hooks of this package
+# if not returning them
+if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
+  _package_local_setup_IFS=$IFS
+  IFS=":"
+  if [ "$AMENT_SHELL" = "zsh" ]; then
+    ament_zsh_to_array AMENT_ENVIRONMENT_HOOKS
+  fi
+  for _hook in $AMENT_ENVIRONMENT_HOOKS; do
+    if [ -f "$_hook" ]; then
+      # restore IFS before sourcing other files
+      IFS=$_package_local_setup_IFS
+      # trace output
+      if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then
+        echo "# . \"$_hook\""
+      fi
+      . "$_hook"
+    fi
+  done
+  unset _hook
+  IFS=$_package_local_setup_IFS
+  unset _package_local_setup_IFS
+  unset AMENT_ENVIRONMENT_HOOKS
+fi
+
+# reset AMENT_CURRENT_PREFIX after each package
+# allowing to source multiple package-level setup files
+unset AMENT_CURRENT_PREFIX
diff --git a/install/ros_viz_adapter/share/ros_viz_adapter/local_setup.zsh b/install/ros_viz_adapter/share/ros_viz_adapter/local_setup.zsh
new file mode 100644
index 0000000..fe161be
--- /dev/null
+++ b/install/ros_viz_adapter/share/ros_viz_adapter/local_setup.zsh
@@ -0,0 +1,59 @@
+# generated from ament_package/template/package_level/local_setup.zsh.in
+
+AMENT_SHELL=zsh
+
+# source local_setup.sh from same directory as this file
+_this_path=$(builtin cd -q "`dirname "${(%):-%N}"`" > /dev/null && pwd)
+# provide AMENT_CURRENT_PREFIX to shell script
+AMENT_CURRENT_PREFIX=$(builtin cd -q "`dirname "${(%):-%N}"`/../.." > /dev/null && pwd)
+# store AMENT_CURRENT_PREFIX to restore it before each environment hook
+_package_local_setup_AMENT_CURRENT_PREFIX=$AMENT_CURRENT_PREFIX
+
+# function to convert array-like strings into arrays
+# to wordaround SH_WORD_SPLIT not being set
+ament_zsh_to_array() {
+  local _listname=$1
+  local _dollar="$"
+  local _split="{="
+  local _to_array="(\"$_dollar$_split$_listname}\")"
+  eval $_listname=$_to_array
+}
+
+# trace output
+if [ -n "$AMENT_TRACE_SETUP_FILES" ]; then
+  echo "# . \"$_this_path/local_setup.sh\""
+fi
+# the package-level local_setup file unsets AMENT_CURRENT_PREFIX
+. "$_this_path/local_setup.sh"
+unset _this_path
+
+# unset AMENT_ENVIRONMENT_HOOKS
+# if not appending to them for return
+if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
+  unset AMENT_ENVIRONMENT_HOOKS
+fi
+
+# restore AMENT_CURRENT_PREFIX before evaluating the environment hooks
+AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
+# list all environment hooks of this package
+
+# source all shell-specific environment hooks of this package
+# if not returning them
+if [ -z "$AMENT_RETURN_ENVIRONMENT_HOOKS" ]; then
+  _package_local_setup_IFS=$IFS
+  IFS=":"
+  for _hook in $AMENT_ENVIRONMENT_HOOKS; do
+    # restore AMENT_CURRENT_PREFIX for each environment hook
+    AMENT_CURRENT_PREFIX=$_package_local_setup_AMENT_CURRENT_PREFIX
+    # restore IFS before sourcing other files
+    IFS=$_package_local_setup_IFS
+    . "$_hook"
+  done
+  unset _hook
+  IFS=$_package_local_setup_IFS
+  unset _package_local_setup_IFS
+  unset AMENT_ENVIRONMENT_HOOKS
+fi
+
+unset _package_local_setup_AMENT_CURRENT_PREFIX
+unset AMENT_CURRENT_PREFIX
diff --git a/install/ros_viz_adapter/share/ros_viz_adapter/package.bash b/install/ros_viz_adapter/share/ros_viz_adapter/package.bash
new file mode 100644
index 0000000..02c8491
--- /dev/null
+++ b/install/ros_viz_adapter/share/ros_viz_adapter/package.bash
@@ -0,0 +1,39 @@
+# generated from colcon_bash/shell/template/package.bash.em
+
+# This script extends the environment for this package.
+
+# a bash script is able to determine its own path if necessary
+if [ -z "$COLCON_CURRENT_PREFIX" ]; then
+  # the prefix is two levels up from the package specific share directory
+  _colcon_package_bash_COLCON_CURRENT_PREFIX="$(builtin cd "`dirname "${BASH_SOURCE[0]}"`/../.." > /dev/null && pwd)"
+else
+  _colcon_package_bash_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
+fi
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+# additional arguments: arguments to the script
+_colcon_package_bash_source_script() {
+  if [ -f "$1" ]; then
+    if [ -n "$COLCON_TRACE" ]; then
+      echo "# . \"$1\""
+    fi
+    . "$@"
+  else
+    echo "not found: \"$1\"" 1>&2
+  fi
+}
+
+# source sh script of this package
+_colcon_package_bash_source_script "$_colcon_package_bash_COLCON_CURRENT_PREFIX/share/ros_viz_adapter/package.sh"
+
+# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced scripts
+COLCON_CURRENT_PREFIX="$_colcon_package_bash_COLCON_CURRENT_PREFIX"
+
+# source bash hooks
+_colcon_package_bash_source_script "$COLCON_CURRENT_PREFIX/share/ros_viz_adapter/local_setup.bash"
+
+unset COLCON_CURRENT_PREFIX
+
+unset _colcon_package_bash_source_script
+unset _colcon_package_bash_COLCON_CURRENT_PREFIX
diff --git a/install/ros_viz_adapter/share/ros_viz_adapter/package.dsv b/install/ros_viz_adapter/share/ros_viz_adapter/package.dsv
new file mode 100644
index 0000000..64630a0
--- /dev/null
+++ b/install/ros_viz_adapter/share/ros_viz_adapter/package.dsv
@@ -0,0 +1,8 @@
+source;share/ros_viz_adapter/hook/cmake_prefix_path.ps1
+source;share/ros_viz_adapter/hook/cmake_prefix_path.dsv
+source;share/ros_viz_adapter/hook/cmake_prefix_path.sh
+source;share/ros_viz_adapter/local_setup.bash
+source;share/ros_viz_adapter/local_setup.dsv
+source;share/ros_viz_adapter/local_setup.ps1
+source;share/ros_viz_adapter/local_setup.sh
+source;share/ros_viz_adapter/local_setup.zsh
diff --git a/install/ros_viz_adapter/share/ros_viz_adapter/package.ps1 b/install/ros_viz_adapter/share/ros_viz_adapter/package.ps1
new file mode 100644
index 0000000..4b9923c
--- /dev/null
+++ b/install/ros_viz_adapter/share/ros_viz_adapter/package.ps1
@@ -0,0 +1,116 @@
+# generated from colcon_powershell/shell/template/package.ps1.em
+
+# function to append a value to a variable
+# which uses colons as separators
+# duplicates as well as leading separators are avoided
+# first argument: the name of the result variable
+# second argument: the value to be prepended
+function colcon_append_unique_value {
+  param (
+    $_listname,
+    $_value
+  )
+
+  # get values from variable
+  if (Test-Path Env:$_listname) {
+    $_values=(Get-Item env:$_listname).Value
+  } else {
+    $_values=""
+  }
+  $_duplicate=""
+  # start with no values
+  $_all_values=""
+  # iterate over existing values in the variable
+  if ($_values) {
+    $_values.Split(":") | ForEach {
+      # not an empty string
+      if ($_) {
+        # not a duplicate of _value
+        if ($_ -eq $_value) {
+          $_duplicate="1"
+        }
+        if ($_all_values) {
+          $_all_values="${_all_values}:$_"
+        } else {
+          $_all_values="$_"
+        }
+      }
+    }
+  }
+  # append only non-duplicates
+  if (!$_duplicate) {
+    # avoid leading separator
+    if ($_all_values) {
+      $_all_values="${_all_values}:${_value}"
+    } else {
+      $_all_values="${_value}"
+    }
+  }
+
+  # export the updated variable
+  Set-Item env:\$_listname -Value "$_all_values"
+}
+
+# function to prepend a value to a variable
+# which uses colons as separators
+# duplicates as well as trailing separators are avoided
+# first argument: the name of the result variable
+# second argument: the value to be prepended
+function colcon_prepend_unique_value {
+  param (
+    $_listname,
+    $_value
+  )
+
+  # get values from variable
+  if (Test-Path Env:$_listname) {
+    $_values=(Get-Item env:$_listname).Value
+  } else {
+    $_values=""
+  }
+  # start with the new value
+  $_all_values="$_value"
+  # iterate over existing values in the variable
+  if ($_values) {
+    $_values.Split(":") | ForEach {
+      # not an empty string
+      if ($_) {
+        # not a duplicate of _value
+        if ($_ -ne $_value) {
+          # keep non-duplicate values
+          $_all_values="${_all_values}:$_"
+        }
+      }
+    }
+  }
+  # export the updated variable
+  Set-Item env:\$_listname -Value "$_all_values"
+}
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+# additional arguments: arguments to the script
+function colcon_package_source_powershell_script {
+  param (
+    $_colcon_package_source_powershell_script
+  )
+  # source script with conditional trace output
+  if (Test-Path $_colcon_package_source_powershell_script) {
+    if ($env:COLCON_TRACE) {
+      echo ". '$_colcon_package_source_powershell_script'"
+    }
+    . "$_colcon_package_source_powershell_script"
+  } else {
+    Write-Error "not found: '$_colcon_package_source_powershell_script'"
+  }
+}
+
+
+# a powershell script is able to determine its own path
+# the prefix is two levels up from the package specific share directory
+$env:COLCON_CURRENT_PREFIX=(Get-Item $PSCommandPath).Directory.Parent.Parent.FullName
+
+colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX/share/ros_viz_adapter/hook/cmake_prefix_path.ps1"
+colcon_package_source_powershell_script "$env:COLCON_CURRENT_PREFIX/share/ros_viz_adapter/local_setup.ps1"
+
+Remove-Item Env:\COLCON_CURRENT_PREFIX
diff --git a/install/ros_viz_adapter/share/ros_viz_adapter/package.sh b/install/ros_viz_adapter/share/ros_viz_adapter/package.sh
new file mode 100644
index 0000000..786b881
--- /dev/null
+++ b/install/ros_viz_adapter/share/ros_viz_adapter/package.sh
@@ -0,0 +1,87 @@
+# generated from colcon_core/shell/template/package.sh.em
+
+# This script extends the environment for this package.
+
+# function to prepend a value to a variable
+# which uses colons as separators
+# duplicates as well as trailing separators are avoided
+# first argument: the name of the result variable
+# second argument: the value to be prepended
+_colcon_prepend_unique_value() {
+  # arguments
+  _listname="$1"
+  _value="$2"
+
+  # get values from variable
+  eval _values=\"\$$_listname\"
+  # backup the field separator
+  _colcon_prepend_unique_value_IFS=$IFS
+  IFS=":"
+  # start with the new value
+  _all_values="$_value"
+  # workaround SH_WORD_SPLIT not being set in zsh
+  if [ "$(command -v colcon_zsh_convert_to_array)" ]; then
+    colcon_zsh_convert_to_array _values
+  fi
+  # iterate over existing values in the variable
+  for _item in $_values; do
+    # ignore empty strings
+    if [ -z "$_item" ]; then
+      continue
+    fi
+    # ignore duplicates of _value
+    if [ "$_item" = "$_value" ]; then
+      continue
+    fi
+    # keep non-duplicate values
+    _all_values="$_all_values:$_item"
+  done
+  unset _item
+  # restore the field separator
+  IFS=$_colcon_prepend_unique_value_IFS
+  unset _colcon_prepend_unique_value_IFS
+  # export the updated variable
+  eval export $_listname=\"$_all_values\"
+  unset _all_values
+  unset _values
+
+  unset _value
+  unset _listname
+}
+
+# since a plain shell script can't determine its own path when being sourced
+# either use the provided COLCON_CURRENT_PREFIX
+# or fall back to the build time prefix (if it exists)
+_colcon_package_sh_COLCON_CURRENT_PREFIX="/workspace/install/ros_viz_adapter"
+if [ -z "$COLCON_CURRENT_PREFIX" ]; then
+  if [ ! -d "$_colcon_package_sh_COLCON_CURRENT_PREFIX" ]; then
+    echo "The build time path \"$_colcon_package_sh_COLCON_CURRENT_PREFIX\" doesn't exist. Either source a script for a different shell or set the environment variable \"COLCON_CURRENT_PREFIX\" explicitly." 1>&2
+    unset _colcon_package_sh_COLCON_CURRENT_PREFIX
+    return 1
+  fi
+  COLCON_CURRENT_PREFIX="$_colcon_package_sh_COLCON_CURRENT_PREFIX"
+fi
+unset _colcon_package_sh_COLCON_CURRENT_PREFIX
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+# additional arguments: arguments to the script
+_colcon_package_sh_source_script() {
+  if [ -f "$1" ]; then
+    if [ -n "$COLCON_TRACE" ]; then
+      echo "# . \"$1\""
+    fi
+    . "$@"
+  else
+    echo "not found: \"$1\"" 1>&2
+  fi
+}
+
+# source sh hooks
+_colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/share/ros_viz_adapter/hook/cmake_prefix_path.sh"
+_colcon_package_sh_source_script "$COLCON_CURRENT_PREFIX/share/ros_viz_adapter/local_setup.sh"
+
+unset _colcon_package_sh_source_script
+unset COLCON_CURRENT_PREFIX
+
+# do not unset _colcon_prepend_unique_value since it might be used by non-primary shell hooks
diff --git a/install/ros_viz_adapter/share/ros_viz_adapter/package.xml b/install/ros_viz_adapter/share/ros_viz_adapter/package.xml
new file mode 100644
index 0000000..d489790
--- /dev/null
+++ b/install/ros_viz_adapter/share/ros_viz_adapter/package.xml
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<package format="3">
+  <name>ros_viz_adapter</name>
+  <version>0.2.0</version>
+  <description>Rate-limited ROS 2 visualization publishers for images and point clouds.</description>
+  <maintainer email="platform@example.com">Platform Team</maintainer>
+  <license>Apache-2.0</license>
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <depend>rclcpp</depend>
+  <depend>sensor_msgs</depend>
+  <depend>image_transport</depend>
+  <depend>pluginlib</depend>
+  <exec_depend>compressed_image_transport</exec_depend>
+  <exec_depend>compressed_depth_image_transport</exec_depend>
+  <export><build_type>ament_cmake</build_type></export>
+</package>
diff --git a/install/ros_viz_adapter/share/ros_viz_adapter/package.zsh b/install/ros_viz_adapter/share/ros_viz_adapter/package.zsh
new file mode 100644
index 0000000..1a523ad
--- /dev/null
+++ b/install/ros_viz_adapter/share/ros_viz_adapter/package.zsh
@@ -0,0 +1,50 @@
+# generated from colcon_zsh/shell/template/package.zsh.em
+
+# This script extends the environment for this package.
+
+# a zsh script is able to determine its own path if necessary
+if [ -z "$COLCON_CURRENT_PREFIX" ]; then
+  # the prefix is two levels up from the package specific share directory
+  _colcon_package_zsh_COLCON_CURRENT_PREFIX="$(builtin cd -q "`dirname "${(%):-%N}"`/../.." > /dev/null && pwd)"
+else
+  _colcon_package_zsh_COLCON_CURRENT_PREFIX="$COLCON_CURRENT_PREFIX"
+fi
+
+# function to source another script with conditional trace output
+# first argument: the path of the script
+# additional arguments: arguments to the script
+_colcon_package_zsh_source_script() {
+  if [ -f "$1" ]; then
+    if [ -n "$COLCON_TRACE" ]; then
+      echo "# . \"$1\""
+    fi
+    . "$@"
+  else
+    echo "not found: \"$1\"" 1>&2
+  fi
+}
+
+# function to convert array-like strings into arrays
+# to workaround SH_WORD_SPLIT not being set
+colcon_zsh_convert_to_array() {
+  local _listname=$1
+  local _dollar="$"
+  local _split="{="
+  local _to_array="(\"$_dollar$_split$_listname}\")"
+  eval $_listname=$_to_array
+}
+
+# source sh script of this package
+_colcon_package_zsh_source_script "$_colcon_package_zsh_COLCON_CURRENT_PREFIX/share/ros_viz_adapter/package.sh"
+unset convert_zsh_to_array
+
+# setting COLCON_CURRENT_PREFIX avoids determining the prefix in the sourced scripts
+COLCON_CURRENT_PREFIX="$_colcon_package_zsh_COLCON_CURRENT_PREFIX"
+
+# source zsh hooks
+_colcon_package_zsh_source_script "$COLCON_CURRENT_PREFIX/share/ros_viz_adapter/local_setup.zsh"
+
+unset COLCON_CURRENT_PREFIX
+
+unset _colcon_package_zsh_source_script
+unset _colcon_package_zsh_COLCON_CURRENT_PREFIX