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Thank you for the answer~ I am reading that tutorials and already writing some codes to test(simple simulation : tf,odom,base...). You said that erratic robot can use standard ROS Navigation stack without any code specific to Erratic robot. So If I also want to use standard ROS Navigation stack without any code specific to my robot. How could I do it? I have no idea that how erratic_navigation connect with laser and motor? And what is the difference between navigation_global,navigation_local,navigation_slam?

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