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