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並前往https://books.google.com.tw/books?id=wY2RCwAAQBAJ&pg=PA125&lpg=PA125&dq=ROS+Navigation&source=bl&ots=Z25hEL_r0A&sig=ACfU3U2RRCiVi49ul3ngdZ7qWlT7HLLcZQ&hl=zh-TW&sa=X&ved=2ahUKEwivyryq6tn6AhWGFzQIHW1WCJ8Q6AF6BQjLAhAD

Robot Operating System (ROS): The Complete Reference (Volume 1)

just create a ROS node that converts the twist message provided by the Navigation Stack to the type of message that best suits your needs.

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