http://www.ros.org/wiki/move_base
http://www.ros.org/wiki/costmap_2d
http://www.ros.org/wiki/nav_core
http://www.ros.org/wiki/base_local_planner
http://www.ros.org/wiki/navfn
debug
http://www.ros.org/wiki/navigation/Tutorials/RobotSetup
http://www.ros.org/wiki/navigation/Troubleshooting
tool:
roswtf