This package has not been released yet, but will be soon.
This package contains configuration files to control the base of amigo, that is make amigo move to a certain location.
The launch file base_navigation.launch starts two nodes. The first one loads a global map of everything the robot has seen so far and a local map based on the current sensor input. It then starts a motion planner for both maps. The second node starts the simultanious localization and mapping (slam) algorithm that translates the sensor input into a map and calculates amigo's location based on that.