code: def sendCMD (self, vel):
          '''
          Sends CMDVel.
  
          @param vel: CMDVel to publish
  
          @type vel: CMDVel
  
          '''
          self.lock.acquire()
          self.vel = vel
          self.lock.release(f sendCMD (self, vel):
          '''
          Sends CMDVel.
  
          @param vel: CMDVel to publish
  
          @type vel: CMDVel
  
          '''
          self.lock.acquire()
          self.vel = vel
          self.lock.release()
docs: Sends CMDVel.
  
          @param vel: CMDVel to publish
  
          @type vel: CMDVel