Final Two Motor Code is Arduino code for controlling Powerbot and please check the pins before running the code
scripts/arduino.py is used for communicating ROS with Arduino with less latency
To replicate the results of Autonomous Navigation on powerbot:
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Run powerbot.launch and in arduino.py check the parameters for baudRate and the port on which arduino is connected to ideally it would be /dev/ttyACM0 or /dev/ttyACM1
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Launch move_base.launch.xml, change the parameters in map_server and locate your .pgm file in args.
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http://wiki.ros.org/navigation/Tutorials/Using%20rviz%20with%20the%20Navigation%20Stack, go through this video on this link will show step by step instructions for implemeting navigation stack with help of RVIZ
To replicate results of autonomous navigation on any robot:(like p3dx)
First you need to change the parameters of foorprint in costmap_commmon_params.yaml. Footprint basically is bounding box of the robot as from the top view
For robot like p3dx you dont need to run arduino.py(i.e no need for step 1 as above) is there is inbuilt controller inside it and publishing the topics just remap the appropriate topics of move_base.launch.xml