  For long-duration operations in GPS-denied environments, accurate and
repeatable waypoint navigation is an essential capability. While simultaneous
localization and mapping (SLAM) works well for single-session operations,
repeated, multi-session operations require robots to navigate to the same
spot(s) accurately and precisely each and every time. Localization and
navigation errors can build up from one session to the next if they are not
accounted for. Localization using a global reference map works well, but there
are no publicly available packages for quickly building maps and navigating
with them. We propose a new architecture using a combination of two publicly
available packages with a newly released package to create a fully functional
multi-session navigation system for ground vehicles. The system takes just a
few hours from the beginning of the first manual scan to perform autonomous
waypoint navigation.
