Documentation

This stack holds some utility packages used in other cn-* stacks. In detail, these are:

• Castor -- A small library, that provides unified access to configuration files from within C# and C++. Additionaly, it provides some communication metaphors.

• cstf -- A wrapper for tf in C#. Only some functionality is provided however.

• udp_proxy_generator -- Generates ros to multicast proxies.

Most packages assume the existence of the environment variable ES_ROOT. ES_ROOT should point to a directory, such that ES_ROOT/lib belongs to the MONO_PATH.

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