https://automaticaddison.com/the-ultimate-guide-to-the-ros-2-navigation-stack/
https://navigation.ros.org/setup_guides/odom/setup_odom.html
https://navigation.ros.org/configuration/index.html
https://navigation.ros.org/configuration/packages/configuring-costmaps.html
http://wiki.ros.org/costmap_2d
http://wiki.ros.org/amcl
https://automaticaddison.com/how-to-set-up-the-ros-navigation-stack-on-a-robot
https://navigation.ros.org/concepts/index.html
https://docs.ros.org/en/rolling/Tutorials/Intermediate/Launch/Launch-system.html
http://wiki.ros.org/
http://wiki.ros.org/robot_state_publisher
https://www.ros.org/reps/rep-0105.html
https://www.ros.org/reps/rep-0103.html
https://www.ros.org/reps/rep-0145.html
https://www.robotandchisel.com/2020/09/01/navigation2/
https://answers.ros.org/question/398095/ros2-nav2-map_server-problems-loading-map-with-nav2_map_server/
https://github.com/ros-planning/navigation2/blob/44b732737923300c5b0cc28096b8433bbd3599af/nav2_map_server/launch/map_saver_server.launch.py
https://github.com/ros2/launch/blob/4b7e47fd1e8900fe27dbfcca66c301acfa978ccb/launch/launch/actions/timer_action.py
https://github.com/ros2/launch_ros/blob/b84b72748e22d8fd648151d96478d19305c96c82/launch_testing_ros/test/examples/check_node_launch_test.py
https://answers.ros.org/users/45886/ninamwa/?sort=recent
https://www.cxyzjd.com/searchArticle?qc=base_footprint&page=1
https://design.ros2.org/articles/node_lifecycle.html
https://answers.ros.org/question/379565/timeout-error-while-saving-map/
https://get-help.robotigniteacademy.com/t/exercise-2-3-no-map-received-in-rviz2/18754
https://github.com/ros-planning/navigation2/blob/main/nav2_msgs/srv/LoadMap.srv