cmdvel_to_ackermann confused track_width and wheel_base

[JaFeKl]

Hi I came across the following issue where I would propose some changes:

Summary

This PR fixes the steering-angle conversion in cmdvel_to_ackermann by using wheel_base (axle distance) instead of track_width (left-right wheel separation).

Why

For Ackermann/bicycle-model steering:

• Turning radius is R = v / ω
• Steering angle is δ = atan(L / R), where L is the wheelbase

Using track_width in this formula produces incorrect steering commands.

Changes

• Updated steering computation to:
  • steering_angle = atan(wheel_base / turning_radius)
• Removed backward-compatibility logic for track_width
• Removed track_width parameter declarations and usages from node scripts and launch files
• Standardized parameter interface to wheel_base only

Impact

• Breaking change: track_width is no longer accepted by cmdvel_to_ackermann
• Users must pass wheel_base in launch/config files

Validation

• Verified no remaining track_width references in the cmdvel_to_ackermann package
• Diagnostics report no errors in edited files

[pulkitg01]

Looks good to me, thanks for the fix.