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 (?))