Navigation Stackdiffbot_basehigh-level hardware interfacebased on ROS Controldiffbot_base_controllerlow-level base controllerrunning on Teensy with rosserialkeyboard_teleopmobile_base_controller/cmd_velgeometry_msgs/TwistRemo Robottfmeasured_joint_statessensor_msgs/JointStatewheel_cmd_velocitiesdiffbot/WheelsCmdMotor PWM signalsEncoder Hall sensor signalsrobot_state_publisherjoint_statessensor_msgs/JointStaterplidarNodecontroller_spawnerdiff_drive_controllerjoint_state_controllerscansensor_msgs/LaserScanresetstd_msgs/Empty