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There are two things you need to be aware of. 1) ROS assumes that all ros nodes are running the same version of ROS (e.g. all kinetic, or all melodic.) 2) the ROS version is also strongly tied to the Ubuntu version.

The easiest path is probably for you to set up a pc with Ubuntu 16.04 and kinetic, and run your semantic code on that. That pc will then be able to publish to topic /cmd_vel and your robot will be able to receive the messages.