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I'm a little unclear on what you actual question is but I'll offer some advice.

Obtaining your current location based on laser scan data can be done with something like the amcl package that compares the laser scans to a known map.

You can create a map from laser scan data using gmapping or manually using GIMP (just export as .gmp).

An easy way to publish a Navigation Goal is to use RVIZ. You can select the 2D Nav goal button at the top which allows you to place an arrow on the screen of where you want the nav goal to be.