Running this package on a real robot

[amaysaxena]

Hey, I'm having trouble figuring out how to get this package working on a real robot. Where can I change the launch files so that I can pass the right topics for map etc? The provided examples only provide launch files for running in Gazebo. I would like to use a single Kobuki turtlebot to do the exploration. The robot is set up with the navigation stack and gmapping. How would I go about, for instance, passing the exploration boundaries through RViz for a real robot?