steps to teloperate four wheel robot

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hello , am working on navigation car-like robot , i have created urdf fill .but now am stake where to go forward to implement navigation ,i read http://wiki.ros.org/navigation/Tutorials and seen video tutorial but i don't figure out what i need to do step by step. if any one help me correct the step ,this is what am thinking to do

1. writing Odom publisher for the model
2. implement tel_operate the robot (but i don't know how to do that)

what are necessary steps need to tele operate car-like robot ?