Navigation Stack ConfigurationView Package on GitHub
This package configures the ROS Navigation Stack needed to give any X-Series Interbotix LoCoBot platform the ability to perform simultaneous localization and mapping (SLAM), navigation, or just localization. It can be used with just the Intel RealSense D435 camera or with both the camera and the A2M8 RPLidar laser scanner. The localization and mapping part is done using the rtabmap_ros ROS package while the navigation part is accomplished via the move_base ROS package.
For best results, this package should be run with the robot in an indoor, uncluttered environment that does not contain too much sunlight and has minimal reflective surfaces.