### assuming you already setup from https://github.com/fembots-2k16/configuring-ubuntu
$ cd ~
$ git clone https://github.com/fembots-2k16/piberry-launch
$ sudo apt-get install ros-indigo-hokuyo-node ros-indigo-amcl ros-indigo-map-server ros-indigo-move-base ros-indigo-dwa-local-planner
a. change all the path names in navigation.launch to point to /home/<username>/piberry-launch
b. note, this will just involve changing "saturn" in all of those paths to your username
---------TAB 1------------------------------------
$ roscore
---------TAB 2------------------------------------
$ cd ~/piberry-launch/
# make sure the robot is turned on!
$ sh enableRobot.sh
$ roslaunch pioneer.launch
---------TAB 3------------------------------------
$ cd ~/piberry-launch
# if you run into an error with urdf or something, try to source devel/setup.bash before running navigation.launch
$ source ~/catkin_ws/devel/setup.bash
$ roslaunch navigation.launch
--------------TAB 3.5 (optional)0000000----------
$ rosrun rviz rviz