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I've decided to avoid the ROS navigation stack. Based on the comments here and my own intuition, it would almost certainly be too slow. This contest is based on speed, after all.

I have looked at what previous winners did and the wall following approach makes sense. It can also be handled fairly easily by the microcontroller itself. Mike Ferguson's tutorials and code have been very valuable.

I will be using ROS for the teleop version of the bot in the kid's contest, and at some point I may make use of the ROS navigation stack for another task. It's been a fun learning experience.