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ROS navigation usually uses AMCL to track and publish the location of the robot, in combination with the robot's odometry.
AMCL usually publishes the position of the robot as a TF transform from the /map frame to the /base_link frame.
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ROS navigation usually uses AMCL to track and publish the location of the robot, in combination with the robot's odometry.
AMCL usually publishes the position of the robot as a TF transform from the /map frame to the /base_link frame.
To understand how rviz interacts with the navigation stack, take a look at http://wiki.ros.org/navigation/Tutorials/Using%20rviz%20with%20the%20Navigation%20Stack
You can also use the rostopic, rosnode and rqt_graph tools to introspect a running system, to see which topics exist and how they're connected.
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