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If you run jackal, look at rqtnode introspection to find out (visually) what topics are coming out of jackal. Basically just play plug and play. Off the top of my head i know an input topic would be "cmd_vel" and the odometry output topic would be "odometry/filtered" since they are running a instance of robot_localization. Then you can just simply follow the Nav stack tutorial http://wiki.ros.org/navigation/Tutorials and setup all the topics correctly. And when you add a observation source in the common costmap configurations, just put the laser topic coming out of gazebo.