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Using DRC vehicle commands in version 2.5

I built a self driving vehicle using version 2.2 by following the tutorial here:

http://gazebosim.org/wiki/Tutorials/drcsim/2.2/VRC_Plugin_DRC_Vehicle

But after upgrading to 2.5, my code won't run anymore. I don't want to downgrade again since some of my other programs run on 2.5, so I'd rather just modify my existing vehicle driver to work for 2.5. What can I use to manipulate the drc vehicle in version 2.5?