How to control a Ackermann drive robot with 4 joints for linear and 4 joints for angular motion

I have a Ackermann drive robot who’s each wheel can be controlled individually. It has 4 joints for linear motion[front_left_wheel_joint, front_right_wheel_joint, rear_left_wheel_joint, rear_right_wheel_joint] and 4 joints for angular motion [front_left_hinge_joint, front_right_hinge_joint, rear_left_hinge_joint, rear_right_hinge_joint].

I tried to make the action graph for the robot to control but at one time I was only able to control either the linear or angular motion but not together and the angular motion was also not perfect. For this I followed this article.

Please tell me how can I control my robot using Action Graph and ROS.