ackermann_vehicle contains ROS packages for simulating a vehicle with 
Ackermann steering.

Packages:
     ackermann_vehicle: Metapackage
     ackermann_vehicle_description: Contains a URDF file that defines a 
radio-controlled four-wheel-drive truck.
     ackermann_vehicle_gazebo: Contains ackermann_controller.py, a node 
that subscribes to ackermann_cmd and publishes messages to various 
topics to which the gazebo_ros_control plug-in subscribes. 
ackermann_controller.py controls the RC truck's wheels and shock absorbers.

Repository:
     https://github.com/wunderkammer-laboratory/ackermann_vehicle.git

-- 
Jim Rothrock | Wunderkammer Laboratory
jim.rothrock@wunderkammerlab.com