Well that depends on the topic and frame names you have in your real robot. If it’s the same setup as the simulated robot, then you should be able to use (almost) the same packages you were using for the simulated robot. I say almost because there are always some parameter adjustments that can be done for the real robot. If the topic and frame names are different from the simulation, then you will need to modify them in the parameter files to adjust them to the new ones.
During the Mobile Manipulator Master we did during February, we tested this with a real RB-Kairos robot, and we only had to do some minor modifications related to different topic names.