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 +http://wiki.ros.org/slam_gmapping/Tutorials/MappingFromLoggedData
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 +http://wiki.ros.org/navigation/Tutorials/Navigation%20Tuning%20Guide
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 +http://wiki.ros.org/navigation/Tutorials/RobotSetup
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 +http://wiki.ros.org/turtlebot_navigation/Tutorials/Autonomously%20navigate%20in%20a%20known%20map
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