I believe Autoware used to provide a branch for PACMod to control vehicle without node SSC. But as it seems the branch is deleted now. Does anyone have access to the previous branch of the autoware?

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Hi Josh, I am trying to implement a simplified version of SSC on my own. I am a newbie in this field. I am confused about where do I start. Your suggestion are highly appreciate.

I would start with a simple PID controller to convert the desired speed to pedal controls. I believe the output for lateral control is in the form of a geometry_msgs/TwistStamped which is in an autoware_msgs/VehicleCmd. The Twist will contain a quaternion which you can convert to roll/pitch/yaw, of which the yaw is the desired vehicle angle. You will then need to convert this into a tire angle using a vehicle model of some sort (a simple Ackermann-style steering model should be fine) and then use the wheel-angle-to-steering-wheel-angle ratio to get a desired steering wheel angle. You can get this value from the vehicle manufacturer or from AutonomouStuff. That value can be used to command steering. I hope this helps.