In a Terminal:
roscore 
Camera
  guvcview -d /dev/video1 
    adjust brightness, contrast, turn auto-balance on, etc. 
    close this window
  rosrun gscam gscam
  rosrun mjpeg_server mjpeg_server
- Wait for connection
	
Drive
rosrun irobot_create_2_1 driver.py 
- If not /dev/ttyUSB0
  rosparam set /brown/irobot_create_2_1/port /dev/otherPort
rosrun rosbridge rosbridge.py
- Wait for the connection