code: def publish (self):
          '''
          Function to publish cmdvel. 
          '''
          self.lock.acquire()
          tw = cmdvel2Twist(self.vel)
          self.lock.release()
          if (self.jdrc.getState() == "flying"):
              self.pub.publish(twf publish (self):
          '''
          Function to publish cmdvel. 
          '''
          self.lock.acquire()
          tw = cmdvel2Twist(self.vel)
          self.lock.release()
          if (self.jdrc.getState() == "flying"):
              self.pub.publish(tw)
docs: Function to publish cmdvel.