# API Reference

This is the API reference for Beluga AMCL. It provides reusable ROS and ROS 2 nodes.

### Components

Explore the library's components:

#### ROS 2 Nodes

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| beluga_amcl::AmclNode | 2D AMCL as a ROS 2 composable lifecycle node, feature compatible with [Nav2 AMCL](https://index.ros.org/p/nav2_amcl). |

#### ROS 1 Nodelets

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| beluga_amcl::AmclNodelet | 2D AMCL as a ROS (1) nodelet, feature compatible with [AMCL](https://github.com/ros-planning/navigation/tree/noetic-devel/amcl). |