To source your ROS environment, run:

./source.sh
source install/setup.bash

If you are using a controller, start up the following two ROS nodes as follows:

ros2 run joy joy_node
ros2 run teleop joyBroadcast

You can ignore that if you are using another form of control

To initiate SPI communications with the car, start the following node:

ros2 run spicontrol spicontrol

To interact with the spicontrol, send an ackermann steering message out with the name "ackDrive". The spicontrol will listen to this message and use that information to control the car's motion