I see you have added some folders to the catkin_ws/src directory which seems like it is shaping into a reasonable node structure.
Your next step should be to add what you expect the inputs and outputs to be for each node into the README.md files. You can start with general types of data (i.e. laser scans, camera image, map) but eventually you will want to define the actual ROS data type you want to publish (i.e. sensor_msgs/LaserScan see this for details: http://docs.ros.org/api/sensor_msgs/html/msg/LaserScan.html)
This will help you see if there are any gaps in your processing flow from the data sensors give you to sending your motor commands. It will also help you with starting the code for each node.
I see you have added some folders to the catkin_ws/src directory which seems like it is shaping into a reasonable node structure.
Your next step should be to add what you expect the inputs and outputs to be for each node into the README.md files. You can start with general types of data (i.e. laser scans, camera image, map) but eventually you will want to define the actual ROS data type you want to publish (i.e. sensor_msgs/LaserScan see this for details: http://docs.ros.org/api/sensor_msgs/html/msg/LaserScan.html)
This will help you see if there are any gaps in your processing flow from the data sensors give you to sending your motor commands. It will also help you with starting the code for each node.