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Move Robot Base

I want to move robot_base to some position. I am reading this page http://wiki.ros.org/navigation/Tutorials/RobotSetup and wondering what the difference between 2.4 and 2.5 is. I mean one way I can do is to publish velocity command to base_controller/command but while I am reading this page, it seems like another way I can do is to publish to "odom". I am not sure what is the right way to do.