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Is there a technical description of nav2d packages ?

Hi I'm studyng on a project that is related to nav2d tutorials, and I want to understand the code for navigator.cpp (RobotNavigator.cpp) and LocalizerNode (selfLocalizer).

I can see the node connection to each other in rqt graph but is there a book, link that describe the codes in Block Diagram or Flow Chart how these two are designed theoretically ?