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Tom, I'm wondering how it has gone for your project! I have questions like you asked. I wanted to use the Turtlebot stack but my base is so different, more like the Husky. I don't know if differential_drive or diff_drive, or MoveIt! would do better for motion control. Or maybe I should install the whole Husky package and see how that goes. Odometry in hardware is also something I'm currently adding, and an IMU.

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