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.