The ControlCommand has the following parameters. https://gitlab.com/autowarefoundation/autoware.ai/messages/-/blob/1.13.0/autoware_msgs/msg/ControlCommand.msg

linearvelocity linearacceleration steeringangle The sscinterface uses these commands and publishes:- // publishers to SSC steermodepub_ = nh.advertise<automotiveplatformmsgs::SteerMode>("as/arbitratedsteering_commands", 10); and so on for controlling the vehicle

I am creating SSC node myself so I have to convert the steer mode which is high level command to low level command which the pacmod reveices or subscribes to. How to do the conversion?