As I studied the tutorial [SLAM Map Building with TurtleBot](http://wiki.ros.org/turtlebot_navigation/Tutorials/indigo/Build a map with SLAM) and tutorial Mapping and Navigation with Turtlebot, I found that move_base is used in their launch files. My understanding is that when building a map, the robot is controlled by the keyboard.Why use move_base? What does move_base do here?
Originally posted by willzoe on ROS Answers with karma: 29 on 2020-01-08
Post score: 0
Depends. If you teleop your robot to explore the area you do not need move_base.
But you could also make the robot automatically explore the area, e.g. using frontier exploration. This would require all nodes for autonomous navigation.
Originally posted by Humpelstilzchen with karma: 1504 on 2020-01-09
This answer was ACCEPTED on the original site
Post score: 1
Comment by willzoe on 2020-01-09:
Thanks.
By the way, if I want to use the navigation stack to create my own navigation package, which packages should I add as dependencies? Is it possible to directly add navigation or turtlebot_navigation as a dependency?
Comment by Humpelstilzchen on 2020-01-09:
Please open a new question for that. If you are the only one using this package I would not bother. If others should use it please add only the required packages.