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Hi,

move_base uses a navigation goal in order to send out cmd_vel messages to the robot, and gets updated with the /odom topic that it subscribes to and the amcl node that aids localization.

If you want an in depth explanation, I made this video that might help:

https://www.youtube.com/watch?v=G5_sAMGmC44&ab_channel=TheConstruct

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