Autonomous Navigation by using move_base - GigaFlopsis/rc_car_ros GitHub Wiki

The first you have read about Navigation Stack.

Ideally, you just need to run the file:

roslaunch rc_bringup bringup.launch 

And run rviz on GSC Pc:

roslaunch rc_bringup view_navigation.launch

You should see something like this:

Importantly!
At the beginning, specify your approximate location on the map in rviz using "2d pose estimation" button.
Then you just set the point to the robot in rviz using "2D nav goal" button.

Setting planner:
the necessary settings of the scheduler are in the folder: rc_car_ros/rc_bringup/params

Refer to these links for the correct settings:
http://wiki.ros.org/costmap_2d
http://wiki.ros.org/move_base
http://wiki.ros.org/dwa_local_planner