mirte_lc_nav2.utils module

Utility helpers for the mirte_lc_nav2 package.

This module includes logging helpers and ROS path conversion utilities used by coverage planners and navigation nodes.

class mirte_lc_nav2.utils.LogType(value)

Bases: enum.IntEnum

An enumeration.

DEBUG = 4

ERR = 3

INFO = 1

WARN = 2

mirte_lc_nav2.utils.log(node, msg_type: mirte_lc_nav2.utils.LogType, msg: str)

Log a message using the provided ROS node.

Args:

node: Optional ROS2 node used for logging. msg_type (LogType): Log severity level. msg (str): Text to log.

mirte_lc_nav2.utils.to_ros_path(points, frame_id='map', spacing=0.1)

Convert a list of points into a ROS nav_msgs/Path message.

Args:

points (list): Sequence of 2D points as (x, y) tuples. frame_id (str): ROS frame for the output path. spacing (float): Desired spacing between returned poses.

Returns:

nav_msgs.msg.Path: Path message containing sampled poses.