Navigation from PointCloud or Ocupancy Grid

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move_base is part of the ros navigation stack, which enables 2d navigation. You can use move_base and its global and local planners and costmaps. link You could start here, its a tutorial for the turtlebot, but all the files are on github and you can look them up. Should be mostly remapping topics and tuning the planners (specially the local planner, in the launchfiles and maybe some yaml file). Its made for indoor use though. I would serve the global planner a projection gridmap (rtabmap publishes this, I dont have the exact name handy), this is due to the fact that the navigation stack is 2d navigation. To take any kind of obstacle or robot height into consideration you have to "compress"/project the 3d data into the 2d gridmap, but as I said rtabmap delivers this cabability out of the box, rtabmap can also provide localization to correct odometry, just has to be put in localization mode (done in the launchfile). Also I only have seen rtabmap and navigation stack work with a prebuild database. SLAM with navigation stack and some sort of exploration algorithm/package I would only try in a second stage after the navigation with a prebuild database works, and this might involve some coding.