Dear Narasimhan,

Thanks for this tutorial, it is a very nice entry point for beginners like
me.

I followed it brainlessly:
I think you forgot to add the creation of move_base.xml.
This triggered an error when running robot.launch (that includes
move_base.xml)
I solved it by using the one from RobotSetup
(http://www.ros.org/wiki/navigation/Tutorials/RobotSetup) and just modified
the package name in it.

Also:
At section 5, you make the user kill both roscore and stage.
After that, at section 10, you make the user run rviz and announce that 
Now our stage and navigation setup is ready. set goals in rviz and watch the
robot move.
I know this is minor, but you did not say the user to actually launch
robot.launch before that. So he might find himself with just rviz opened.

Finally:
Could you elaborate on section 10? (Problems and troubleshooting)
In particular Play with the params.yaml files to reduce the probability of
such occurrences.
It would be nice to have a gross explanation on how to tune those
parameters.
A bit like the guides you can find on how to tune mechanical controllers
(you see this => do that).
i know they are explained in the navigation stack documentation, but a
practical guide to navigation parameters would be very very very useful :)

Once again, thanks for this tutorial

Raphael

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