ackermann steering using arduino

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hello, I want to use navigation stack. my robot is a car-like robot and I have servo motor to control going right and left and DC motors to go backward and forward. Both motors are connected to arduino, and the arduino is connected to jetson nano where ros is running. now my question is how should I control the car and what should I publish in order to control it? should I map the steering angle to the y coordinate for example? considering that I want to use the navigation stack which is not designed for car-like steering, but I am planning to use [http://wiki.ros.org/teb_local_planner] to make it work.