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If you are using move_base the result is output to the topic cmd_vel (arrow on the bottom of the image on the move_base webpage ).
I haven't used a car-like kinematic myself, but I just found this page http://wiki.ros.org/teb_local_planner/Tutorials/Planning%20for%20car-like%20robots with more details for the teb planner and ackermann kinematics.
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If you are using move_base the result is output to the topic cmd_vel (arrow on the bottom of the image on the move_base webpage ).) as a geometry_msgs/Twist message .
I haven't used a car-like kinematic myself, but I just found this page http://wiki.ros.org/teb_local_planner/Tutorials/Planning%20for%20car-like%20robots with more details for the teb planner and ackermann kinematics.
The sections 2.2.1 and 2.2.2. could interest you.
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