How to subscribe to control commands from the LGSVL simulator using only ROS2?

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Hello!

Is it possible to get the control commands i.e steering pattern from the latest LGSVL simulator? What topic should I subscribe to, to fetch this data for training later? Previously it used to be /simulator/control/command. Now it has changed. I would like to strictly avoid using Autoware and Apollo and just use ROS2. Has any one done it this way? Any pointers?

If I have to change the internal code of LGSVL, any leads on how to do that?

Also if I want throttle, braking information too, how should I go about with just ROS2?

Thanks.

Update: The LGSVL team have updated their code base to reflect changes to the latest simulator. I'm currently testing it out.

Update 2: After testing and doing some modification to my needs, I was able collect data. The solution is to use a sensor plugin with custom topic name and type.