Hi Vinay,
I already run (with success) ROS navigation stack on Peoplebot platform
(Pioneer based platform), using a modified version of p2os driver avaiable
on ROS. 
Instead to use the joystick, you can use your keyboard to control the robot.
The main thing that you should do, after testing drivers, is create a node
that publish TF stream about your robot; don't forgei to put the minimal
frames and use Navigation stack frame_id names compatible. 
If you have questions or problems, just let's me know.

Enea Scioni
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