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The ConstPtrs in ROS behave like boost::shared_ptr, and you can use them similarly.

This should probably look something like:

// .. fill in your message fields
geometry_msgs::Twist msg;
msg.linear.x = 42;
geometry_msgs::Twist::ConstPtr msg_p(new geometry_msgs::Twist(msg));

// call your callback
driver.CmdVelCallback(msg_p);

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