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the nav2d package should be possible to use on any robot moving on a plane. The examples all use stage simulation for demonstration, but we used it on Pioneer robots as well. For a start I suggest you try to apply tutorial1 to your robot. You have to replace stage with your robot-driver. The RobotOperator generates a geometry_msgs::Twist, which is common in ROS to control any type of robot. If your driver uses this message-type, you can connect it directly. If this works, you can add navigation and mapping step by step following tutorials 2 and 3.