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If you don't care about transforming the velocities to the correct frame (see my comment under @atas' answer), then the following should do what you want:

rosrun topic_tools transform /twist_cmd /cmd_vel geometry_msgs/Twist 'm.twist'

This takes the twist field from the messages which come in on the input topic, and publishes just that field as a new message on the output topic. Adjust as necessary of course.

No need to write your own node, as I mentioned earlier.

Refer to wiki/topic_tools - transform for more information about transform.

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