How to send raw velocity commands to joints of pr2

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I could finally publish raw joint velocity command to a joint. Here are what I did:

• create a parameter yaml file as follows; e.g. l_shoulder_pan_velocity_controller.yaml

l_shoulder_pan_velocity_controller:
type: robot_mechanism_controllers/JointVelocityController
joint: l_shoulder_pan_joint
pid:
p: 5.0
i: 20.0
i_clamp: 100.0

• Then load the file on the parameter server

$ rosparam load l_shoulder_pan_velocity_controller.yaml

• Load the joint velocity controller

rosrun pr2_controller_manager pr2_controller_manger load l_shoulder_pan_velocity_controller

• Stop the l_arm_controller which is running

rosrun pr2_controller_manager pr2_controller_manager stop l_arm_controller - Start the joint velocity controller for l_shoulder_pan_joint

rosrun pr2_controller_manager pr2_controller_manager start l_shoulder_pan_velocity_controller - Publish joint velocity command topic

rostopic pub -1 l_shoulder_pan_velocity_controller/commad std_msgs/Float64 1.0