Our planning algorithm currently outputs a series of waypoints instead of control signals. What is a good way to turn waypoints into controls like, cmdsteer, and cmdvelocity for the Husky robot? Is there an existing node, that subscribes to waypoints and publishes cmdsteer and cmdvelcoity for the Husky robot? I know that there is a follow_waypoints but it seems to work for kinetic and the dynamics are not specific to Husky robots. I also know that there is a Husky navigation package but don't know which part of this package is relevant. For reference, I'm on Ubuntu 18.04 with ROS melodic.