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I had same problem in the tutorial. I guess... A Message "currentVelocityCommand" for virtual joystick isn't initialized and null. I tried to fix it... " currentVelocityCommand =publisher.newMessage();"

I had same problem in the tutorial. I guess... A Message "currentVelocityCommand" for the virtual joystick isn't initialized and null. remains as Null. I tried to fix it... it. Add this line. " currentVelocityCommand =publisher.newMessage();"