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X-lanni
2025-05-27 19:03:40 +08:00
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navigation2/nav2_util/README.md
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# Nav2 Util
The `nav2_util` package contains utilities abstracted from individual packages which may find use in other uses. Some examples of things you'll find here:
- Geometry utilities for computing distances and values in paths
- A Nav2 specific lifecycle node wrapper for boilerplate code and useful common utilities like `declare_parameter_if_not_declared()`
- Simplified service clients
- Simplified action servers
- Transformation and robot pose helpers
The long-term aim is for these utilities to find more permanent homes in other packages (within and outside of Nav2) or migrate to the raw tools made available in ROS 2.