Convert geometry_msgs/twist to asctec_msgs/CtrlInput

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Hi,

I am working with an asctec pelican and ros. I wanna control the pelican via ros, but the pelican need asctec_msgs/CtrlInput messages. But most things in ros publishes geometry_msgs/twist as velocity commands.

My question is, is there something in ros which can be used to translate the twist messages to CtrlInput messages ?

Or does somebody knows something about the asctec/CtrlInput? I would write the node myself, but I do not know much about the CtrlInput messages?