writing cmd_vel node using ROS with segmentic segmentation running
I currently have a semantic segmentation system setup and it is up and it is running with an algorithm to allow my robot to move/stop. I would like to send commands to my robot running ros subscribed to cmd_vel. My entire semantic segmentation will be running on a separate PC running Ubuntu 18.04 while robot is running on Ubuntu 16.04. How can I write the publisher node? Should I copy the segmentation folder into catkin_ws/src?
Appreciate any help as I am new to ROS and AV Operation.