The erratic_navigation package contains configuration and launch files for running the navigation stack on an Erratic robot. Currently there are three sets of configuration options:

• navigation_global - this set contains configuration files for the move_base and amcl nodes meant to be run in an application that requires global navigation with a pre-specified static map.

• navigation_local - this set contains configuration files for the move_base node meant to be run in an application that requires navigation in an odometric frame.

• navigation_slam - this set contains configuration files for the move_base and gmapping nodes meant to be run in an application that requires SLAM-based global navigation.