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hi kylerlaird.
Not sure if you are still interested in ackermann system but the most promising ackermann steering development in ROS seems to be teb_local_planner. This can be used in the place of the original planner or DWA planner within move_base. Within the setting you can convert the twist messages to ackermann style messages and specify steering angles. The development of the ackermann implementation is still in development, and still very active, but I have used it without any issues.