'AMCL 'is to calculate localization score of robot pose in given map which requrired dependancies related to python and ROS msgs as subscription.
'Map & Scan' is to create a manual map and laser scan in given initial pose transformation is done only for Waffle pi model. and it will publish /my_map and /my_scan topics which cane be called using map_server service to save the map.
'Lidar' is to publish a /scan topic given map occupancy data. or subscribing from /map
'stop' is to control the motor movement by subscribing laser_scan data and control the robot in moving obstacle envrionment