Expanding from this awesome reply to one of my questions (http://answers.ros.org/question/251003/creating-your-own-robot-to-use-with-path-finding-mapping/)

So I seem to be making some awesome progress, here is my github (a group of files thanks to you guys/girls) https://github.com/burf2000/ROS_Robot

So far, I can move my robot via teleop (twist cmd_vel) via a keyboard (BrickPi.py script) My launch file, launches hector slam with Lidar (neato) and knows how the robot moves (odom) and rotates

Whats next do I need to make it move via a 2D Nav (rviz)?