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I'll answer in two parts:
cwru_bringup_no_tele.launch
and cwru_nav/start_nav.launch
(though start_nav.launch
assumes that someone has already brought up a map_server
, like in cwru_nav/start_amcl_2ndfloor.launch
). You should be able to trace the included launch files, configs and such to get an example working navigation stack for our differential drive robots.