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For rtabmap_ros integration with move_base, see http://wiki.ros.org/rtabmap_ros/Tutorials/MappingAndNavigationOnTurtlebot.

For an example with Turtlebot3 on melodic in simulation, see http://wiki.ros.org/rtabmap_ros/Tutorials/MappingAndNavigationOnTurtlebot#Turtlebot3_On_Melodic.

To setup move_base's costmaps and planners, see http://wiki.ros.org/navigation/Tutorials/RobotSetup.

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