How to create an Action Graph for a tricycle?

I wanted to create an Action Graph for my tricycle to control it in ROS2. Therefore i created two Joints. One for the velocity of my front wheel and a second one to steer the front wheel. I cannot use the Differential Controller for the Steering. Are there any alternatives and how could I implement a graph for these?

Hi @ckr90 - Have you looked at this documentation? It shows how to add a ROS2 Joint State publisher .

Also, the example here of adding a controller is reference, you can create and add your own controller by following this tutorial: