We now have a demo using a RPLidar and showing how to do full nav stack with gmapping and AMCL. Find out about all that sort of cool stuff here:
This comes about because it has been a question for ages so why not have a starter page to learn about nav and actually play with it using a Magni!
To use the demo as it is see the picture at top level of the demo. Only the X and Y matter so I just show a picture from the top. The lidar height from the floor is not of much value but should be able to hit your walls.