= Building a Map for the Navigation Stack =

In order for your robot to navigate with the Navigation Stack, it must have a static map. This map enables the robot to localize itself and receive commands to navigation to a specific location within the map. We currently build our maps using the [[gmapping]] package, which uses SLAM to build a map from sensor data published over ROS. [[slam_gmapping/Tutorials/MappingFromLoggedData| Here is a tutorial on building a map from ROS sensor data using gmapping.]]