Hi, I have a "checkpoint" and several numbered "stations". At the checkpoint turtlebot have to scan nameplate with one-digit number. Determine what it is and go to station with this number. And repeat. So, I guess this is done in the following way...

Preparation: In the teleop mode (in future of course autonomous way better) the robot explore a room: build a map, find "stations" and remember station's coordinates.

Execute: Go to the checkpoint coordinates, find and scan number, realize what station we need and go to this station coordinates.

Questions: How to remember station's coordinates, and where to store it? How to associate a picture with the number and the desired station?