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You can find out where the service is defined using rosservice type <srv>.

Besides that, the setting of cmd_vel_timeout to 0.6s is very reasonable and in general should NOT be set very high. Resending the same velocity is the right thing to do! The reason for that is safety. If the control program crashes/is stopped, you don't want the robot continuing to go with the last set velocity. I'd highly recommend not changing that.