Drive a robot

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Hi. I'd like to drive my robot into a predefined map. I have a sensor that can give me x,y,z position and quaternions.

I have two questions:

• is there any package that can calculate velocities from position?

• what package should I use to became able to drive my robot? I started reading about navigation stack but I haven't any laser. But I think it's not necessary because I'm moving into a known enviroment, so I know where obstacles are.