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I worked through this page: http://wiki.ros.org/navigation/Tutorials/RobotSetup and many of the links and got it setup.

For reading around the topic these links also helped me:

http://wiki.ros.org/navigation
https://automaticaddison.com/how-to-set-up-the-ros-navigation-stack-on-a-robot/
https://learn.ubiquityrobotics.com/noetic_quick_start_navigation
https://prabhjotkaurgosal.com/a-guide-to-implementing-ros-navigation-stack-on-your-robot/4/
https://www.youtube.com/watch?v=-BObt8inVs8

Hope that helps!

Thanks

Kev

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