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The most convenient option would be to make it controllable via a geometry_msgs/Twist message, with the topic name typically being "/cmd_vel". This way, you can use a lot of options for teleoperation that already follow this convention.

The fast and easy option I often use is the pr2_teleop package. By starting the keyboard teleop node you can quickly move a robot around:

rosrun pr2_teleop teleop_pr2_keyboard