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This is certainly possible, but I think walking you through all of relevant parameters / components of move_base that you'd be changing is asking a lot, especially without seeing what you've already tried. My advice would be to start from one of the example navigation packages (e.g., husky_navigation), and incrementally change it to match your stated objectives. If you get stuck on a specific aspect of it, feel free to post your attempt and I'm sure someone will be able to help.
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This is certainly possible, but I think walking you through all of relevant parameters / components of move_base that you'd be changing is asking a lot, especially without seeing what you've already tried. My advice would be to start from one of the example navigation packages configs (e.g., husky_navigation), and incrementally change it to match your stated objectives. If you get stuck on a specific aspect of it, feel free to post your attempt and I'm sure someone will be able to help.
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