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1) You don't really mention it in your question, but I guess you want the robot to localize itself on a given a map using lidar data? For that I suggest having a look at http://wiki.ros.org/amcl

2) It's all open source, everything is possible :). You can of course write your own navigation stack. However, there are already solutions available in ROS for mapping/localization/path planning/obstacle avoidance.