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Most robots implement a cmd_vel topic with the geometry_msgs/Twist type which commands the linear and angular velocities of your mobile base. This isn't quite raw motor commands, but it's much closer to an actuator command.
Some robots perform the conversion from cmd_vel to raw motor commands in the driver node or on the embedded motor controller board, and some robots do the conversion to raw motors commands in a ROS nodes and publish additional topics that are then passed to the motor control node. You'll need to refer to the documentation for your specific robot to find out how it does this. (You may also be able to figure out by inspecting the list of topics when your robot is running)
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