Youbot SLAM navigation (no prior map)

(Tested with Hydro, check and install any additional dependencies, sudo apt-get install ros-hydro-XXX)

1. Install youbot_driver and youbot_driver_ros_interface.
2. Install robot_joint_state_publisher (Required for youbot_driver_ros_interface youbot_joint_state_publisher)
3. In your hydro_ws, clone the youbot_navigation repo (hydro_devel branch), and catkin_make. Make sure the workspace is sourced from now on.
4. Install ros-hydro-move-base and ros-hydro-hokuyo-node (Required for youbot navigation local and base_front_hokuyo)
5. Edit bringup_navigation.launch on youbot_navigation_common, replacing youbot_oodl with the newer youbot_driver_ros_interface, youbot_driver and youbot_joint_state_publisher launch files. This file will run everything that is needed for local navigation.
6. The launch procedure goes youbot_driver_ros_interface youbot_driver.launch, youbot_driver_ros_interface youbot_joint_state_publisher.launch, youbot_navigation_common base_front_hokuyo_node.launch, youbot_navigation_local move_base_local.launch.
7. All navigation data published through ROS can be visualised using rviz. Make sure to create the appropriate variables and subscribe to the correct topic.