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# nav_2d_utils
A handful of useful utility functions for nav_core2 packages.
* Bounds - Utilities for `nav_core2::Bounds` objects interacting with other messages/types and for dividing a `UIntBounds` into multiple smaller bounds.
* [Conversions](doc/Conversions.md) - Tools for converting between `nav_2d_msgs` and other types.
* OdomSubscriber - subscribes to the standard `nav_msgs::Odometry` message and provides access to the velocity component as a `nav_2d_msgs::Twist`
* Parameters - a couple ROS parameter patterns
* PathOps - functions for working with `nav_2d_msgs::Path2D` objects (beyond strict conversion)
* [Plugin Mux](doc/PluginMux.md) - tool for switching between multiple `pluginlib` plugins
* [Polygons and Footprints](doc/PolygonsAndFootprints.md) - functions for working with `Polygon2D` objects
* TF Help - Tools for transforming `nav_2d_msgs` and other common operations.