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Hi, depends on what you want to do ? For the start 2d navigation would be a good idea. You can also use 3d navigation. But that's a lot more complex in my opinion. Take a look @ Rtab-Map for example. Here is an example using turtlebot.

I'm trying to use cartographer for this currently. You can start cartographer in localization mode too. Haven't figured out how to combine this with navigation2 under ros2.