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You have to publish twist messages with veloctiy info after detecting touch of buttons. Here is some code extract

refer this code for futhurinfo

              import org.ros.message.geometry_msgs.Twist;
              import org.ros.node.topic.Publisher;

              private Publisher<org.ros.message.geometry_msgs.Twist> publisher;
              private org.ros.message.geometry_msgs.Twist currentVelocityCommand =
                      new org.ros.message.geometry_msgs.Twist();

              public boolean onTouchEvent(MotionEvent event) {

                      // other stuff

              case MotionEvent.ACTION_UP:        

                {
                        currentVelocityCommand.linear.x = linearV; // 
                        currentVelocityCommand.linear.y = 0;
                        currentVelocityCommand.linear.z = 0;
                        currentVelocityCommand.angular.x = 0;
                        currentVelocityCommand.angular.y = 0;
                        currentVelocityCommand.angular.z = -angularV; //

                    publisher.publish(currentVelocityCommand);
                }
             }

You have to publish twist messages with veloctiy info after detecting touch of buttons. Here is some code extract

refer this code for futhurinfo

              import org.ros.message.geometry_msgs.Twist;
              import org.ros.node.topic.Publisher;

              private Publisher<org.ros.message.geometry_msgs.Twist> publisher;
              private org.ros.message.geometry_msgs.Twist currentVelocityCommand =
                      new org.ros.message.geometry_msgs.Twist();

              public boolean onTouchEvent(MotionEvent event) {

                      // other stuff

              case MotionEvent.ACTION_UP:        

                {
                        currentVelocityCommand.linear.x = linearV; // 
                        currentVelocityCommand.linear.y = 0;
                        currentVelocityCommand.linear.z = 0;
                        currentVelocityCommand.angular.x = 0;
                        currentVelocityCommand.angular.y = 0;
                        currentVelocityCommand.angular.z = -angularV; //

                    publisher.publish(currentVelocityCommand);
                }
             }