  #include <iostream>

  int main()
  {
    std::cout << "planner package: Nav2 minimal global planning stack" << std::endl;
    std::cout << "  - slam_toolbox (online_async)" << std::endl;
    std::cout << "  - planner_server (SmacPlannerHybrid)" << std::endl;
    std::cout << "  - global_costmap + local_costmap" << std::endl;
    std::cout << "  - lifecycle_manager" << std::endl;
    return 0;
  }
