/scan [sensor_msgs/msg/LaserScan] /drive [ackermann_msgs/msg/AckermannDriveStamped]
Testing the /drive topic manually, we can send:
ros2 topic pub --once /drive ackermann_msgs/msg/AckermannDriveStamped "{
'header': {'stamp': {'sec': 0, 'nanosec': 0}, 'frame_id': 'base_link'},
'drive': {'steering_angle': 0.0, 'speed': 0.0}
}"
with the desired steering angle and speed.
Available Maps: ![[levine.png|400]] ![[levine_blocked.png|400]] ![[levine_obs.png|400]] ![[Spielberg_map.png|400]]