code: def publish (self):
          '''
          Function to publish cmdvel.
          '''
          #print(self)
          #self.using_event.wait()
  
          self.lock.acquire()
          msg = cmdvel2PosTarget(self.vel)
          self.lock.release()
          self.pub.publish(msgf publish (self):
          '''
          Function to publish cmdvel.
          '''
          #print(self)
          #self.using_event.wait()
  
          self.lock.acquire()
          msg = cmdvel2PosTarget(self.vel)
          self.lock.release()
          self.pub.publish(msg)
docs: Function to publish cmdvel.