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Swap the turtlesim velocity with geometry_msgs/Twist.

Swap the turtlesim velocity with geometry_msgs/Twist.

vel_pub_ = nh_.advertise<turtlesim::Velocity>("turtle1/turtle1/cmd_vel", 1); needs to be changed to vel_pub_ = nh_.advertise<geometry_msgs::Twist>("turtle1/turtle1/cmd_vel", 1); turtlesim::Velocity vel; to geometry_msgs::Twist vel; Remove command_velocity at the end.

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