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To build a map and then navigate autonomously in that map, follow the turtlebot_navigation tutorials:

building a map: http://ros.org/wiki/turtlebot_navigation/Tutorials/Build%20a%20map%20with%20SLAM
navigating autonomously in a known map: http://ros.org/wiki/turtlebot_navigation/Tutorials/Autonomously%20navigate%20in%20a%20known%20map

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