Using 2D Lidar SLAM and Build Path to the controller

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Hello ROS users,

I have a 2D Lidar laser scanner(Sick TiM-561) works on the ubuntu 14.04LTS with ROS jade PC, and I have a computer which is embedded program controller for the vehicle. Now I want to use Lidar to scan the environment and use ROS PC to build the map and then build a path to feed the embedded program controller to control the steering wheel for following the path.

So here I need to mapping and a path signal for the controller, and then the controller just follow the path to the goal place.

My case is when Lidar scans a parallel parking space and ROS PC build a map, then if I want to pull my car into that parking space, the ROS will build a path for the controller to track it.

I saw this link but this is for the specified robot of ROS, but the robot which I want to contnot a ROS robot. Could someone can give me some directions? Thanks in advanced.