how to use nav_core

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hi, all,

I am trying to use nav_core for my navigational stack. but I cannot find good tutorial on it. To be more specific, I want to use A* and dynamic window approach, how to I pass the parameter to the console call? Is there any good example/tutorial on this?

also, how do I pass the goal to the nav_core w/o involving rviz? (rviz seems having a conflict with me graphic card)

thanks! Ray