Lab #4 is now fully working. So you need to run kbd_publisher, this is an event window that you enter keys into. To start, press f key. Then you can control the robot using the w,a,s,d keys to turn, go back, and go forward. If you press the v key, the robot goes into vision control mode. This will use the kinnect camera to guide the robot to a place in the field of view. It is not perfect yet, the turning angles need to be calibrated and the time used to calculate the heading vector could be a little bit better, but it works and it does navigate to the place that it is told to be at.