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Most of the time when you see the ros message types with additional stamped extension , that means in i addition to original message type there is also std_msgs::Header included together as one comapct message. In your case , the geometry_msgs::TwistStaped have original original geometry_msgs::Twist and std_msgs::Header. If you you can extract the only twist with for example something like this ; in your callback ;

 geometry_msgs::Twist your_extarcted_twist = Msg->twist ;