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I think that the idea behind the whole navigation stack is Indoor navigation where access to GPS is not possible.

If you want to use google maps I guess you could save a picture of the map and with some post processing make all buildings black and all roads white. But you will need a long range lidar (Velodyne lidar for example)

Or you could also just fix your phone on the robot and get the GPS estimated position combined with Google maps (there must be some API to use google maps from on your own program)