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navigate in hector map


I get a nav_msgs/ OccupancyGrid and can view it in rivz, all works fine. But i have no idea if there is any package or node to navigate with that map. I am using hector_mapping and a hokulu_laser to get the map.

Are there any packages or so in ros where this is already implemented or do you have a link to a tutorial about that topic and is there anywhere a detailed explanaishon about the OccupancyGrid ?