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The applications platform is supported on the PR2 and the Turtlebot, so some of the applications are capable of running on multiple robots, including teleop and mapping.
You should be able to run the appmaster and app_manager nodes on your robot, and get a few of the more generic apps up and running. I would take a look at the launch file for the applications platform on the PR2 as a starting point: https://kforge.ros.org/pr2apps/pr2_apps/file/9621613819ec/pr2_app_manager/launch/pr2_app_manager.launch
If your robot is mobile and has a camera, you should be able to get the teleop app running; I would take a look at the teleop app for the PR2 as a starting point: https://kforge.ros.org/pr2apps/pr2_teleop_apphg/
A lot of this is still in the semi-experimental stages, even on the PR2, so there's a lot of documentation that just hasn't been written yet.
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