From package 'twist_to_ackermann'

./src/twist_to_ackermann.cpp

Translates twist commands to ackermann drive commands, to be used in car-like robots.

• /ack_vel: A stamped or unstamped ackermann drive command resulting from the translation.

• /nav_vel: The stamped or unstamped twist message to convert.

• use_stamps: If true, TwistStamped and AckermannDriveStamped messages will be used. defualt: false
• wheelbase: The wheelbase of your vehicle in meters (float). Required, but defaults to 1.0