What I said about move_base was at a time we were trying to figure out why you could not find move_base. It was only to see if move_base could be found, not to explain how to start the navigation stack and actually use move base. Move base is of no value without the rest of the code that determines where the robot is at a given time. We then found that you were on the laptop. The book and chapters I mention would explain the navigation stack and as such would be valuable.
My advice is that reading a couple chapters of that book is in fact EXACTLY the best thing for you at this time and would be a valuable thing and would greatly assist you in your efforts to learn more about ROS based robots.
I told you I have not done point cloud system and have told you I am getting ready to publish an example that will directly walk people through use of a Lidar on the Magni.
The example I publish for Lidar may offer tips that may assist your efforts in a conceptual way.