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I would suggest using ackermann_msgs as:

it's a message that is used by many other nodes and controllers
clearpath_msgs is old, unused and unmaintained

If you must use clearpath_msgs, you can find it here.

You'll have ..

I would suggest using ackermann_msgs as:

it's a message that is used by many other nodes and controllers
clearpath_msgs is old, unused and unmaintained

If you must use clearpath_msgs, you can find it here.

You'll have to git clone .. it to your Catkin workspace, make sure to have all dependencies installed (see #q252478 for the general procedure) and then build the workspace.

Problems with ackermann_msgs are its variable names can be misleading to someone

This I don't understand.

and its data types are 'float', I prefer 'double'.

It's up to you, but for values this small I would be surprised it really makes a difference.