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@michikarg The laser scanner is defined in the costmap_commons and displayed in rviz, and the costmaps are, too.

@lorenz In fact I never really tested if the robot is driving the wanted speed. I will check that tomorrow, as i am not in the university today. The other stuff should be working. The odometry seems to be right (moving 1 meter in rviz means moving 1 meter in reality) and slow rotations are recognized correctly, too. I limited the navigation stack to slow rotations as they are no problem.

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