http://wiki.ros.org/amcl/Tutorials
http://library.isr.ist.utl.pt/docs/roswiki/amcl.html
https://automaticaddison.com/how-to-set-up-the-ros-navigation-stack-on-a-robot/
https://automaticaddison.com/navigation-and-slam-using-the-ros-2-navigation-stack/