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How to configure navigation stack?

I know that there should be many tutorials about this but i can't find anything. I've just set publishers and subscribers for sensors stuff, odometry stuff and IMU. Now, how can i set everything to notice navigation stack the creation of this stuff? what configuration files should i create? and where? Thank you! ps: My sensors are sonar, i published a Range message, i've read that it is possible to integrate this in navigation stack, but how?