Contains the ROS-dependent libraries for may_nav as well as the main navigation node
Converts sensor callback data into a cost map
Convert between ROS and may_nav geometry types
Implements an asynchronous wrapper for the global planner.
Create debug data for the local planner
Convert between ROS and may_nav map types
Manages the usage of externally provided data (tf, map, sensors) to create the set of cost maps and transforms needed for global and local planning.
Wrapper for callbacks to ROS subscribers to buffer messages till they are needed by a map manager update call.
Implementation of the main action server that runs navigation
Protect may_nav’s internal state from race conditions between action server and service calls
Wrapper for the ROS tf