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The conditionals in your velocity callback aren't meaningful c++:

if (x = vel.linear.x - 1.0) //Forward move.
{
      digitalWrite(24, LOW);
      digitalWrite(23, HIGH);
}
else if (y = vel.linear.y - 1.0)   //Backward move
{
      digitalWrite(24, HIGH);
      digitalWrite(23, LOW);
}
else 
{
      digitalWrite(24, LOW);     //STOP
      digitalWrite(23, LOW);
}

Since you use the single equals sign you're changing the value of x and y instead of checking it. Instead you should use the less-than and greater-than operators (and a little bit of wiggle room so you don't need to send exactly 0 to stop):

if (vel.linear.x > 0.1) //Forward move.
{
      digitalWrite(24, LOW);
      digitalWrite(23, HIGH);
}
else if (vel.linear.x < -0.1)   //Backward move
{
      digitalWrite(24, HIGH);
      digitalWrite(23, LOW);
}
else 
{
      digitalWrite(24, LOW);     //STOP
      digitalWrite(23, LOW);
}