I want to make an autonomous mobile robot, which can localise itself and navigate to the goal in an unknown environment. As sensor, i just have a RPLidar to get laser scan, that's it. I used Hector SLAM to make a map of the room. But how do I implement navigation for the robot? Move_Base, (specifically base_local_planner) requires odometry data. while hector gives pose update and slam out pose, they have a different message type compared to odom.