Tips on how to find where things are to debug something in a certain stack:
  * rosrun rqt_launchtree rqt_launchtree --force-discover
  * rosrun rqt_console rqt_console (maybe launch from ''/catkin_ws/src/robots/heron_robot/heron_robot'')
  * rosrun rqt_logger_level rqt_logger_level
  * rosparam get /move_base_node/  (see which parameters are used for navigation. To look for in navigation stack ROS)
  * rqt_logger_level_LoggerLevel - rqt   (separate window where the logs for rqt_console are specified (?))