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Hello,

You will first need to get familiar with the navigation stack. I found it helpful to go over some tutorials with an existing robot such as the turtlebot or clearpath husky for autonomous navigation. By going over these tutorials, you should become familiar with things like move_base (local and global path planners and their parameters). After this, you may use a package such as this which allows you to use your rplidar to conduct hector slam. Keep in mind that this package is only for mapping, you will still need to launch move_base in order to achieve navigation.

Hope that helps,

Aaron