Workflow documentation

[wumple]

Hello - I'm trying to get this package to run on my robot. I've remapped all of the topics and get saved maps but can't really figure out what the standard workflow is. I've managed to get a map loaded via the loadMap server and then can start the navigator but immediately get 'You are attempting to call methods on an uninitialized goal handle' and then ugly memory errors. Would you be able to add a bit more instruction about how to get things running?