Pathfinding and moving my custom Robot

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Expanding from this awesome reply to one of my questions ( http://answers.ros.org/question/25100... )

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)?