I need to work on a car with steering control. I basically need to develop a raw structure of a car model with steering control and then need to add required sensor controls and all.

I started of with "teb_local-planner'-car like robot planning which has the python code for converting twist messages into corresponding ackerman steering commands.

For, this i required the urdf model of a steering car. I switched to "CAT-Vehicle" and decided to extract the urdf file (by removing the other sensor files from the launch and urdf files). But i was unable to move the car with the teleop command along the python code used for converting the cmd_vel/ commands.

The whole question was posted in the following link. http://answers.ros.org/question/258819/error-with-modified-cat-vehicle/

After this, i am still trying to find a way so that i can start with implementation of car model with steering control. Nor i am able to know the use of any such plugins, nor i am able to work with the edited CAT Vehicle.

PLEASE REFER THE LINK ABOVE AND HELP ME WITH A DETAILED SOLUTION OF WHAT SHOULD BE MY STEPS TO PERFORM MY TASK. SO FAR, I AM UNABLE TO FIND ANYYY SOLUTION. PLEASE HELP.

I do need guidance on how can i implement ackermann steering because i am randomly picking any steering based models and trying to work with it. This has been proved completely fruitless so far. Best Regards