sudo apt install ros-melodic-yocs-cmd-vel-mux ros-melodic-robot-state-publisher ros-melodic-teleop-twist-joy ros-melodic-joy ros-melodic-diff-drive-controller ros-melodic-joint-state-controller

sudo udevadm control --reload-rules && sudo service udev restart && sudo udevadm trigger

Wait for a bit. Then:

roslaunch bb1_bringup normal.launch

rosrun gmapping slam_gmapping scan:=scan

roslaunch bb1_bringup amcl.launch