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Hi Belghiti. From what I understood, you want to use the Navigation Stack (probably move_base) based only on odometry. Considering that, the Navigation Stack requires a transformation from odom to map frame. Therefore, you need to publish a constant transformation between these two frames. You can write a node to do that, but I think that static_transform_publisher does exactly what you need. You can just set zero to all offset coordinates.

I hope this will help you.