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Hello. As you noticed, first you need to install it from its repository.

sudo apt-get install ros-%YOUR_ROS_DISTRO%-navigation

Anyway it is already installed by default. Then you should install the tutorials for that package:

sudo apt-get install ros-%YOUR_ROS_DISTRO%-navigation-tutorials

then go to that directory, and execute a node:

roscd navigation_tutorials
rosrun robot_setup_tf_tutorial tf_broadcaster

In another terminal roscd again to that package and:

rosrun robot_setup_tf tf_listener

If you want to make that package by yourself, you should go to your workspace directory, and create a package, then create the two .cpp files, modify the CMakeLists.txt and rosmake.

Hope this helps.

Please consult these links for further information: TF Setup Navigation Package

Hello. As you noticed, first you need to install it from its repository.

sudo apt-get install ros-%YOUR_ROS_DISTRO%-navigation

Anyway it is already installed by default. Then you should install the tutorials for that package:

sudo apt-get install ros-%YOUR_ROS_DISTRO%-navigation-tutorials

then go to that directory, and execute a node:

roscd navigation_tutorials
rosrun robot_setup_tf_tutorial tf_broadcaster

In another terminal roscd again to that package and:

rosrun robot_setup_tf robot_setup_tf_tutorial tf_listener

If you want to make that package by yourself, you should go to your workspace directory, and create a package, then create the two .cpp files, modify the CMakeLists.txt and rosmake.

Hope this helps.

Please consult these links for further information: TF Setup Navigation Package