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hi @sumant,

you executive_usarsim node is not subscribing to the /cmd_vel topic that's why it is not shown in you rqt_graph. you can do following things to drive robot:-

Check, on which topic your executive_usarsim node is expected to receive twist message and remap the teleop_twist_keyboard from /cmd_vel to the identified topic.
Use usarsim_inf insted of executive_usarsim.

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