diff --git a/scripts/test_wheel.sh b/scripts/test_wheel.sh
new file mode 100755
index 0000000..6606851
--- /dev/null
+++ b/scripts/test_wheel.sh
@@ -0,0 +1,82 @@
+#!/bin/bash
+
+TARGET="$1"
+
+if [[ "$TARGET" == "-h" || "$TARGET" == "--help" ]]; then
+    exit 0
+fi
+
+if [[ $# -lt 1 ]]; then
+    echo "Error: Expected at least 1 arg"
+    exit 1
+fi
+
+if [[ $# -ge 2 ]]; then
+  SPEED="$2"
+fi
+
+source install/setup.bash
+
+trap "trap - SIGTERM && kill -- -$$" SIGINT SIGTERM EXIT
+
+case $TARGET in
+    "forward") 
+        ros2 topic pub --rate 10 /cmd_vel geometry_msgs/msg/TwistStamped "
+          header: auto
+          twist:
+            linear:
+              x: ${SPEED:-0.4}
+              y: 0.0
+              z: 0.0
+            angular:
+              x: 0.0
+              y: 0.0
+              z: 0.0"
+        ;;
+    "backward") 
+        ros2 topic pub --rate 10 /cmd_vel geometry_msgs/msg/TwistStamped "
+          header: auto
+          twist:
+            linear:
+              x: ${SPEED:--0.8}
+              y: 0.0
+              z: 0.0
+            angular:
+              x: 0.0
+              y: 0.0
+              z: 0.0"
+        ;;
+    "left") 
+        ros2 topic pub --rate 10 /cmd_vel geometry_msgs/msg/TwistStamped "
+          header: auto
+          twist:
+            linear:
+              x: 0.0
+              y: 0.0
+              z: 0.0
+            angular:
+              x: 0.0
+              y: 0.0
+              z: ${SPEED:-0.4}"
+        ;;
+    "right") 
+        ros2 topic pub --rate 10 /cmd_vel geometry_msgs/msg/TwistStamped "
+          header: auto
+          twist:
+            linear:
+              x: 0.0
+              y: 0.0
+              z: 0.0
+            angular:
+              x: 0.0
+              y: 0.0
+              z: ${SPEED:--0.4}"
+        ;;
+    "zero")
+        ros2 service call /zero std_srvs/srv/Empty
+        ;;
+    *)
+        echo "Target not defined"
+        exit 1
+        ;;
+esac