README

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.