  The ROS navigation stack is powerful for mobile robots to move from place to
place reliably. The job of navigation stack is to produce a safe path for the
robot to execute, by processing data from odometry, sensors and environment
map. Maximizing the performance of this navigation stack requires some fine
tuning of parameters, and this is not as simple as it looks. One who is
sophomoric about the concepts and reasoning may try things randomly, and wastes
a lot of time.
  This article intends to guide the reader through the process of fine tuning
navigation parameters. It is the reference when someone need to know the "how"
and "why" when setting the value of key parameters. This guide assumes that the
reader has already set up the navigation stack and ready to optimize it. This
is also a summary of my work with the ROS navigation stack.
