So far, autonomous navigation within a SLAM scenario on an uneven terrain has been implemented.
Install ros navigation stack by executing:
sudo apt-get update
sudo apt-get install ros-melodic-navigation
Launch the navigation package:
roslaunch robot4ws_navigation archimede_move_base.launch
It automatically launch 3D SLAM performed by cartographer and the navigation stack.
An rviz gui will appear. You can set there navigation goals and waypoints within the global map.