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I would suggest to go through some tutorials with a functioning navigation stack. I personally liked the Turtlebot 3 tutorials and the Clearpath instructions and demos. Both describe how to simulate the robot, so you don't need the hardware to learn from them. If you are more into reading I would suggest the ROS Robot Programming book. Chapter 10 addresses mobile robots and chapter 11 SLAM and Navigation.
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I would suggest to go through some tutorials with a functioning navigation stack. I personally liked the Turtlebot 3 tutorials and the Clearpath instructions and demos. Both describe how to simulate the robot, so you don't need the hardware to learn from them. If you are more into reading reading, I would suggest the ROS Robot Programming book. Chapter 10 addresses mobile robots and chapter 11 SLAM and Navigation.
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