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I also faced the above issue and the proposed solution didn't resolve. After some digging around, it appears that an update to the dbw_mkz_msgs package has renamed steering_wheel_angle_cmd to steering_wheel_angle. The recommended solution is to downgrade the dbw_mkz_msgs package to 1.1.1:
sudo apt-get install ros-$ROS_DISTRO-dbw-mkz=1.1.1* ros-$ROS_DISTRO-dbw-mkz-msgs=1.1.1* ros-$ROS_DISTRO-dbw-mkz-can=1.1.1* ros-$ROS_DISTRO-dbw-mkz-description=1.1.1* ros-$ROS_DISTRO-dbw-mkz-joystick-demo=1.1.1*
Update: it appears the issue has been resolved and pushed to a new version on github.
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