After setting the odometry nodes, the base controller node, and the PID nodes, we need to configure the Navigation stack to perform SLAM and Adaptive Monte Carlo Localization (AMCL) for building the map, localizing the robot, and performing autonomous navigation.

To build the map of the environment, we need to configure mainly two nodes: the gmapping node for performing SLAM and the move_base node. We also need to configure the global planner, the local planner, the global cost map, and the local cost map inside the Navigation stack. Let's see the configuration of the gmapping node first.