Here is a list of all files with brief descriptions:

easynav_common
include
easynav_common
testing
LogCapture.hpp	LogCapture: records the log messages emitted while it lives (for tests)
types
NavState.hpp	A blackboard-like structure to hold the current state of the navigation system
RobotGeometry.hpp	Declaration of RobotGeometry and LegacyRobotGeometryNames
TFInfo.hpp
CircularBuffer.hpp
PackageShare.hpp	Get_package_share_path(): a package's share directory on every ROS 2 distro
Parameters.hpp	Parameter helpers for plugins that may be initialized several times on the same node
RobotGeometry.hpp	RobotGeometryRegistry, which shares the robot's geometry, and get_robot_geometry()
RTTFBuffer.hpp
Singleton.hpp
TransformListener.hpp	Make_transform_listener(): a node-attached TransformListener on every ROS 2 distro
YTSession.hpp
tests
navstate_tests.cpp
parameters_tests.cpp	Tests for declare_parameter_if_absent()
robot_geometry_tests.cpp	Tests for get_robot_geometry(): the system's geometry and deprecated parameters
transform_listener_tests.cpp
easynav_controller
include
easynav_controller
fault_injection
FaultyController.hpp	Declaration of the FaultyController class
safety
CommandGuard.hpp	Declaration of the CommandGuard class
ControllerNode.hpp	Declaration of the ControllerNode class, a ROS 2 lifecycle node for speed computation in Easy Navigation
DummyController.hpp	Declaration of the DummyController method
VelocityMux.hpp	Declaration of the VelocityMux class
VelocitySmoother.hpp	Declaration of the VelocitySmoother class
src
easynav_controller
fault_injection
FaultyController.cpp	Implementation of the FaultyController class
safety
CommandGuard.cpp	Implementation of the CommandGuard class
ControllerNode.cpp	Implementation of the ControllerNode class
DummyController.cpp	Implementation of the DummyController class
VelocityMux.cpp	Implementation of the VelocityMux class
VelocitySmoother.cpp	Implementation of the VelocitySmoother class
tests
command_guard_tests.cpp	Safety::CommandGuard around the VelocityMux: timeout, non-finite commands, new controller commands, keepalive, QoS and diagnostics
controller_node_tests.cpp
controller_node_velocity_tests.cpp	ControllerNode as the single exit of the velocity command: robot limits for the controller plugins, selection among sources (mux), smoothing, publication, and braking on deactivation
faulty_controller_tests.cpp	How ControllerNode copes with a controller plugin that misbehaves (FaultyController)
rt_allocation_tests.cpp	The RT velocity path (proposals, mux, smoother) must not allocate memory once warm
velocity_mux_tests.cpp
velocity_smoother_tests.cpp
easynav_localizer
include
easynav_localizer
fault_injection
FaultyLocalizer.hpp	Declaration of the FaultyLocalizer class
DummyLocalizer.hpp	Declaration of the DummyLocalizer class, a default plugin implementation for localization
LocalizerNode.hpp	Declaration of the LocalizerNode class, a ROS 2 lifecycle node for localization tasks in Easy Navigation
src
easynav_localizer
fault_injection
FaultyLocalizer.cpp	Implementation of the FaultyLocalizer class
DummyLocalizer.cpp	Implementation of the DummyLocalizer class
LocalizerNode.cpp	Implementation of the LocalizerNode class
tests
faulty_localizer_tests.cpp	FaultyLocalizer: each fault does what it says
localizer_node_tests.cpp
easynav_maps_manager
include
easynav_maps_manager
fault_injection
FaultyMapsManager.hpp	Declaration of the FaultyMapsManager class
DummyMapsManager.hpp	Declaration of the DummyMapsManager class, a default map manager plugin for Easy Navigation
MapsManagerNode.hpp	Declaration of the MapsManagerNode class, a ROS 2 lifecycle node for map handling in Easy Navigation
src
easynav_maps_manager
fault_injection
FaultyMapsManager.cpp	Implementation of the FaultyMapsManager class
DummyMapsManager.cpp	Implementation of the DummyMapsManager class
MapsManagerNode.cpp	Implementation of the MapsManagerNode class
tests
faulty_maps_manager_tests.cpp	FaultyMapsManager: each fault does what it says
maps_manager_node_tests.cpp
easynav_planner
include
easynav_planner
fault_injection
FaultyPlanner.hpp	Declaration of the FaultyPlanner class
DummyPlanner.hpp	Declaration of the DummyPlanner class, a default fallback planner plugin
PlannerNode.hpp	Declaration of the PlannerNode class, a ROS 2 lifecycle node for computing navigation paths in Easy Navigation
src
easynav_planner
fault_injection
FaultyPlanner.cpp	Implementation of the FaultyPlanner class
DummyPlanner.cpp	Implementation of the DummyPlanner class
PlannerNode.cpp	Implementation of the PlannerNode class
tests
faulty_planner_tests.cpp	FaultyPlanner: each fault does what it says
planner_node_tests.cpp
planner_path_check_tests.cpp	PlannerNode discards non-finite paths and reports them
easynav_sensors
include
easynav_sensors
types
DetectionsPerception.hpp	Defines data structures and utilities for representing and processing image perceptions
GNSSPerception.hpp	Defines data structures and utilities for representing and processing GNSS perceptions
ImagePerception.hpp	Defines data structures and utilities for representing and processing image perceptions
IMUPerception.hpp	Defines data structures and utilities for representing and processing IMU perceptions
OdometryPerception.hpp	Defines data structures and utilities for representing and processing odometry perceptions
Perceptions.hpp	Defines data structures and utilities for representing and processing sensor perceptions
PointPerception.hpp	Defines data structures and utilities for representing and processing point-based sensor perceptions
SensorsNode.hpp	Declaration of the SensorsNode class, a ROS 2 lifecycle node for sensor fusion tasks in Easy Navigation
src
easynav_sensors
types
DetectionsPerception.cpp
GNSSPerception.cpp
ImagePerception.cpp
IMUPerception.cpp
OdometryPerception.cpp
PointPerception.cpp
SensorsNode.cpp	Implementation of the SensorsNode class
tests
perception_handlers_tests.cpp	The perception handlers other than points (IMU, GNSS, odometry, detections, image): they reject wrong types, store each message in NavState, trigger once per message, and their perceptions copy, print and report their latest stamp
perception_locking_tests.cpp
perceptions_tests.cpp
plugin_tests.cpp	Tests that verify the pluginlib plugin registration, loading, and correctness of all built-in PerceptionHandler plugins
pointperceptionsops_tests.cpp
sensors_data_age_tests.cpp	SensorsNode: perceptions older than "forget_time" are invalidated and reported
sensors_lifecycle_tests.cpp
sensors_node_tests.cpp
easynav_system
include
easynav_system
safety
ConfigurationFingerprint.hpp	Fingerprint (dump and SHA-256) of the EasyNav configuration
ParameterFreezer.hpp	Declaration of the ParameterFreezer class
RtMonitor.hpp	Declaration of the RtMonitor class
SafetyChannelMonitor.hpp	Declaration of the SafetyChannelMonitor class
SafetySupervisor.hpp	Declaration of the SafetySupervisor class
GoalManager.hpp	Declaration of the GoalManager class
GoalManagerClient.hpp	Declaration of the GoalManagerClient class
RealTime.hpp	Real-time setup of the EasyNav process
SystemNode.hpp	Declaration of the SystemNode class, the central coordinator node for Easy Navigation components
src
easynav_system
safety
ConfigurationFingerprint.cpp	Implementation of the configuration fingerprint
ParameterFreezer.cpp	Implementation of the ParameterFreezer class
RtMonitor.cpp	Implementation of the RtMonitor class
SafetyChannelMonitor.cpp	Implementation of the SafetyChannelMonitor class
SafetySupervisor.cpp	Implementation of the SafetySupervisor class
GoalManager.cpp	Implementation of the GoalManager class
GoalManagerClient.cpp	Implementation of the GoalManager class
RealTime.cpp	Implementation of the real-time setup of the EasyNav process
SystemNode.cpp	Implementation of the SystemNode class
goalmanager_test_main.cpp
system_main.cpp
tests
goalmanager_tests.cpp
real_time_tests.cpp	Real-time setup of the EasyNav process
rt_monitor_tests.cpp	Safety::RtMonitor, with simulated cycle start times
safety_channel_monitor_tests.cpp	SafetyChannelMonitor, with simulated times
safety_module_tests.cpp	The safety module of easynav_system, on its own: configuration fingerprint, parameter freezer and safety supervisor
system_actions_tests.cpp	SystemNode as SystemActions (what a recovery system can ask of EasyNav), and recovery_node as one more EasyNav node
system_clock_watchdog_tests.cpp	SystemNode tells which EasyNav nodes have use_sim_time and no /clock (their components never run), and warns about them while Active
system_component_faults_tests.cpp	SystemNode with a localizer, planner or maps manager that misbehaves (FaultyLocalizer, FaultyPlanner, FaultyMapsManager)
system_fault_injection_tests.cpp	The whole RT cycle of SystemNode with a controller that misbehaves (FaultyController)
system_lifecycle_cycle_tests.cpp	Exercises SystemNode's own lifecycle state machine through repeated full cycles, including active -> inactive -> unconfigured -> inactive -> active
system_lifecycle_mission_tests.cpp	A mission survives reconfiguring EasyNav (active -> inactive -> unconfigured -> inactive -> active, as when switching plugins at runtime) in the middle of it
system_pause_tests.cpp
system_robot_geometry_tests.cpp	SystemNode shares "robot_geometry.*" with every component before they configure
system_safety_mode_tests.cpp	Configuration validation, safety mode, frozen configuration and configuration hash
system_shutdown_request_tests.cpp	A shutdown requested by a recovery mitigation takes SystemNode (and every EasyNav node) out of Active through the lifecycle's error path, ending in Finalized
system_tfinfo_tests.cpp
system_velocity_smoothing_tests.cpp	End to end through SystemNode: with very low accelerations, the published commands are smoothed, never a jump to the controller's command