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Hello World, I know the problem... There are too many informations available when starting with the ros environment.

I've solved the problem by trying simple things first and step by step.

1. I've developed a working move_base for my robot, which uses cmd_vel
2. I've used simple keyboard teleop with my move_base
3. I've developed simple sensors interfaces (bumpers and kinect) and verified the output with rostopic
4. I've developed a simple controller which uses input from sensor topics and send informations to my move_base (cmd_vel). A simple wall-follower-algorithm is easy...

But now it will be complex, I want to use the default navigation stack for my needs and like to develop a simple explorer and obstacle avoider.

Please can anybody tell me in a few sentences the next steps :-)

Thanks in advance Cheers Chrimo