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You're really just better off playing on a regular server.
To make a navmesh, make a server using the option with a plus icon on the main menu, select the map you want, and start up the game.
For this next step you should have the Developer console enabled, enable it in options.
In the console, turn sv_cheats to 1 by typing sv_cheats 1 in the console and hitting enter.
After that, enter the command nav_generate and the navmesh will begin generating, keep in mind this will massively slow your game down to about 1-3 FPS while the mesh is generating.
After that, the map should be able to used with bots. The .nav file you just created will be saved in the following location:
You can spawn bots with the command tf_bot_quota #. # will be replaced by a number of bots to add.
Alternatively, you can specify the bots you want exactly with this command:
[<number>]
replace with number of bots to add. if omitted, only 1 bot will spawn.
[<class>]
replace with the class of the bots. can be scout, soldier, pyro, demoman, heavyweapons, engineer, sniper, medic, or spy.
[<team>]
replace with the team the bots will be on. red or blue.
[<difficulty>]
replace with the difficulty setting of the bots. easy, normal, hard, or expert.
[<name>]
replace with the name of the bot. can be set to anything.
These are how well the different stock gamemodes are supported by bots, all custom modes are unsupported:
Attack/Defense (single/multistage, ex. Dustbowl) - Excellent Support
Attack/Defense (complex, ex. Steel) - Good Support
Attack/Defense (3CP, ex. Gravel Pit) - Good Support
Capture the Flag (ex. 2Fort) - Poor Support
Control Points (5CP, ex. Yukon) - Great Support
King of the Hill (ex. Viaduct) - Excellent Support
Mann vs. Machine (ex. Coaltown) - No Support
Payload (ex. Badwater Basin) - Excellent Support
Payload Race (ex. Hightower) - No Support
Special Delivery (ex. Doomsday) - No Support
***
Well there you have it, everything you need to play with bots on any map you'd like.
Here's a video if your interested.
https://www.youtube.com/watch?v=uPNT5VYRaoE
http://tf2.gamebanana.com/gamefiles/3023