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Command a vehicle via messages

Hi all, I am trying to control a model (in particualr a drc_vehicle) without using ROS but I don't know how to do it. For instance I would like send messages to apply a force to the gas pedal (a joint) or to the steer (another joint). Do you know some good tutorials or do you have suggestions to face this problem? For example what kind of message I have to use? Or how I can command a particular joint?

I hope you could help me.

Thanks in advance.