Nexus 4WD Mecanum Car Controller Topics Published /cmd_vel -> for controlling movement [geometry_msgs/Twist] Subscribed /front_sensor - ultrasonic distance measureent [sensor_msgs/Range] /left_sensor - ultrasonic distance measureent [sensor_msgs/Range] /right_sensor - ultrasonic distance measureent [sensor_msgs/Range] /rear_sensor - ultrasonic distance measureent [sensor_msgs/Range] /camera/depth/image_rect_raw - depth map stream [TODO: type] /camera/color/image_raw - video stream [TODO: type]