HELP! navigation stack setup

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hello guys!!!!!

I am now setting up the navigation stack for my robot. I have all the requirement, except that I use the diffdrive_plugin and the gazebo_ros_camera plugin to fulfill the requirement. But these plugin are not strictly package. What should I do?

Using

rostopic list:

/camera_info
/clock
/cmd_vel
/gazebo/link_states
/gazebo/model_states
/gazebo/parameter_descriptions
/gazebo/parameter_updates
/gazebo/set_link_state
/gazebo/set_model_state
/image_raw
/image_raw/compressed
/image_raw/compressed/parameter_descriptions
/image_raw/compressed/parameter_updates
/image_raw/compressedDepth
/image_raw/compressedDepth/parameter_descriptions
/image_raw/compressedDepth/parameter_updates
/image_raw/theora
/image_raw/theora/parameter_descriptions
/image_raw/theora/parameter_updates
/odom
/rosout
/rosout_agg
/scan
/set_hfov
/set_joint_trajectory
/set_update_rate
/tf