We have created packages, nodes, 3D models of robots, and more. In Chapter 4, The Navigation Stack - Robot Setups, you configured your robot in order to be used with the navigation stack, and in this chapter, we will finish the configuration for the navigation stack so that you learn how to use it with your robot.

All the work done in the previous chapters has been a preamble for this precise moment. This is when the fun begins and when the robots come alive.

In this chapter, we are going to learn how to do the following:

• Apply the knowledge of Chapter 4, The Navigation Stack - Robot Setups and the programs developed therein
• Understand the navigation stack and how it works
• Configure all the necessary files
• Create launch files to start the navigation stack

Let's begin!