### cmd_vel(geometry_msgs::Twist) to ackermann_msgs

Hi all.

I'd like to translate /cmd_vel(geometry_msgs::Twist) to ackermann_msgs::ackermannDrive.

Linear speed is same in two msgs.(linear.x = speed)

How can I covert angular velocity to steering angle?(angular.z --> steering_angle)

Are there nodes for it? I couldn't find to translate from angular velocity to steering angle.

Could you please let me know equation and necessary parameters?

Thanks.