Running

#make sure to compile 
source ./srcp2-competitors/ros_workspace/install/setup.bash
catkin build

# open lots of terminals and source in each
source ./devel/setup.bash
#run sim, @NOTE: I do run it differently for my system
./srcp2-competitors/docker/scripts/launch/roslaunch_docker --run-round 1 

#runs the odom, obstacle, minicore, & driver nodes
roslaunch ./launch/scoot.launch "name:=scout_1"

#I don't use gazebo to see, this will open a camera view from the left camera
rosrun image_view image_view image:=/scout_1/camera/left/image_raw

# I suggest using the teleop to get fine motion to position obstacles
rosrun teleop_twist_keyboard teleop_twist_keyboard.py cmd_vel:=/scout_1/skid_cmd_vel

# echo out the obstacle being published / tested
rostopic echo /scout_1/obstacle