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There is no "best" approach; there are only "better" approaches for your particular application and situation. I would start by asking the Misty team if they plan to support ROS in the future; last I spoke with them this wasn't the case. You wrote the following about the first approach, "I have not seen a documentation how I would get that to work or if this is an equivalent of the ROS Navigation stack." I think you probably answered your own question.

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