launch sbpl_lattice_planner (hydro ) errors

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Dear all.

i 'm using ubuntu 12.04 ,turtlebot1 and hydro,created a catkin_ws workspace , installed sbpl through sudo apt-get install ros-hydro-sbplthanks to Johannes https://github.com/meyerj/sbpl_lattice_planner and ahendrix https://github.com/trainman419/sbpl_lattice_planner , i download Johannes's and catkin_makesuccessfuly,but when i

roslaunch sbpl_lattice_planner  move_base_sbpl_fake_localization_2.5cm.launch

it came out two errors,ERROR: cannot launch node of type [stage/stageros]: can't locate node [stageros] in package [stage] ,ERROR: cannot launch node of type [nav_view/nav_view]: nav_view . when i rospackfind stage and stage_ros in the path'/opt/ros/hydro/share/'

my questions are:

1. in the move_base_sbpl_fake_localization_2.5cm.launch,how to correct the line <node pkg="stage" type="stageros" name="stageros" args="$(find sbpl_lattice_planner)/worlds/willow.world" respawn="false" >to fix the first error?
2. in the sbpl_lattice_planner/launch/move_base/nav_view_sbpl.xml,how to correct the line node name="nav_view" pkg="nav_view" type="nav_view" respawn="false">to fix the second error(i want to use rviz to replace nav_view,but don't know how to do ),does the 'remap from ...to ...'lines also need to be changed ?

3. in the sbpl_lattice_planner/launch/move_base/move_base/move_base_sbpl.xml, does the line <param name="SBPLLatticePlanner/primitive_filename" value="$(find sbpl)/matlab/mprim/pr2.mprim"/> fit my turtlebot1 (it can only forward ,backward and rotation)?

   thanks to your time and suggestions !!