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 (?))

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