Simply put all three packages to the catkin_ws/src directory and run
catkin_make
from catkin_ws directory. This should build all the packages and Ackermann steering plugin without problems!
First you need to launch the world simulation with
roslaunch my_robot world.launch
Then you need to launch AMCL localization node with
roslaunch my_robot amcl.launch
And you're good to go!
You can control the robot by creating 2DNavigation goal in Rviz.
You can also run keyboard teleop node to control the robot manualy with
rosrun teleop_twist_keyboard teleop_twist_keyboard
The robot starts in the hallway, so it is hard to locolize it right away. But as soon as the robot enters one of the rooms localization solution should converge quickly!
Sometimes gazebo just crashes - simply relaunch it.