It contains all the main files which are used to start different actions like create map of the environment (Create_map.launch), initiate parking and un-parking of the robot, etc. You can directly run these files provided everything else is set up like SBPL Lattice Planner, ROS Serial, Hector Mapping and Hokuyo node. Please visit https://sites.google.com/site/mrsdproject201314teama/ for complete information