diff --git a/pacmod_interface/src/pacmod_interface/pacmod_interface.cpp b/pacmod_interface/src/pacmod_interface/pacmod_interface.cpp
index 688041c..804b576 100644
--- a/pacmod_interface/src/pacmod_interface/pacmod_interface.cpp
+++ b/pacmod_interface/src/pacmod_interface/pacmod_interface.cpp
@@ -408,8 +408,10 @@ void PacmodInterface::publishCommands()
   const double desired_steer_wheel = std::invoke([&]() -> double {
     double desired_steer_wheel{0.0};
     if (convert_steer_command_) {
-      desired_steer_wheel =
-        (control_cmd_ptr_->lateral.steering_tire_angle - steering_offset_) * adaptive_gear_ratio;
+      // NOTE:
+      // It is assumed that steer_cmd is send as actuation_cmd without being converted from
+      // raw_vehicle_cmd_converter.
+      desired_steer_wheel = (actuation.steer_cmd - steering_offset_) * adaptive_gear_ratio;
     } else {
       desired_steer_wheel = actuation_cmd_ptr_->actuation.steer_cmd;
     }