Added the example package to show my versions of the low level wheel
control and odometry nodes.  This also includes the launch files.  As
well as a timestamp fix to the pointcloud, without which you can not
drive the robot and see the pointcloud in the correct place.  Try
  roslaunch example odometry.launch
  roslaunch example odometry_with_pointcloud.launch
run together with the teleop
  rosrun shared_demo teleop.py
And more importantly, take a look at the files and let me know if you
have questions!