X-lanni
12 lines
636 B
Markdown
12 lines
636 B
Markdown
# Nav2 Util
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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:
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- Geometry utilities for computing distances and values in paths
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- A Nav2 specific lifecycle node wrapper for boilerplate code and useful common utilities like `declare_parameter_if_not_declared()`
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- Simplified service clients
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- Simplified action servers
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- Transformation and robot pose helpers
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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.
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