code: def cmdvel2Twist(vel):
      '''
      Translates from JderobotTypes CMDVel to ROS Twist. 
  
      @param vel: JderobotTypes CMDVel to translate
  
      @type img: JdeRobotTypes.CMDVel
  
      @return a Twist translated from vel
  
      '''
      tw = TwistStamped()
      tw.twist.linear.x = vel.vx
      tw.twist.linear.y = vel.vy
      tw.twist.linear.z = vel.vz
      tw.twist.angular.x = vel.ax
      tw.twist.angular.y = vel.ay
      tw.twist.angular.z = vel.az
  
      return tf cmdvel2Twist(vel):
      '''
      Translates from JderobotTypes CMDVel to ROS Twist. 
  
      @param vel: JderobotTypes CMDVel to translate
  
      @type img: JdeRobotTypes.CMDVel
  
      @return a Twist translated from vel
  
      '''
      tw = TwistStamped()
      tw.twist.linear.x = vel.vx
      tw.twist.linear.y = vel.vy
      tw.twist.linear.z = vel.vz
      tw.twist.angular.x = vel.ax
      tw.twist.angular.y = vel.ay
      tw.twist.angular.z = vel.az
  
      return tw
docs: Translates from JderobotTypes CMDVel to ROS Twist. 
  
      @param vel: JderobotTypes CMDVel to translate
  
      @type img: JdeRobotTypes.CMDVel
  
      @return a Twist translated from vel