based on CAT Vehicle Testbed https://cps-vo.org/node/26591
install ros additional packages from https://cps-vo.org/node/26602
mkdir -p ~/catvehicle_ws/src
cd ~/catvehicle_ws/
catkin_make
copy contents to src
catkin_make
rosrun teleop_twist_keyboard teleop_twist_keyboard.py
roslaunch catvehicle catvehicle_skidpan.launch
gzclient