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As far as I know, this has not been the case, as long as I have worked in the project (since version 1.9.0). PACMod vehicles have always required SSC or other custom interface software because Autoware.AI produces high-level commands (like desired speed and heading angle) and PACMod accepts low-level commands (like pedal and steering wheel control). However, you should be able to implement a simplified version of SSC on your own pretty easily with some basic PID control.

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