Ackermann Steering ROS2 (real robots and gazebo)

There are a lot of examples of ackermann steering with ROS but I am struggling to find documentation or help on creating a ROS2 steering mechanism control for a live car robot. I would like to do this for the Picar-B (it’s a raspberry pi car which works fine in Python but doesn’t support ROS natively).

I believe gazebo has a plugin for ackermann for ROS2 but not sure how to do this in real life.

When I look at I don’t find ackermann and yet there is an version in ros1.

Is this still just something that hasn’t been done/supported yet?

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