Hi,

I am looking for the "best practice" way to simply have a ROS "control"
node tell another ROS "drive" node to send RS232 commands to have my
diff-drive robot drive forward, left, right, backwards via continous
servos. 

Would you suggest have the "control" node communicate simple drive
commands to the "drive" node as topics, services, or should I take a
closer look at how to use the actionlib?

IE: when you use the joystick to command the PR2 to simply move forward
(no path planning or localization), how is this done.

Thanks
Jack
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