I want to change the speed command value obtained with DWA with my package.

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Hello. I am a ROS beginner. I am doing SLAM of turtlebot 2 in the ubuntu 14.04, ros (indigo) personal computer environment.

I want to lower the robot's speed when approaching obstacles. For that purpose, DWA can not be used as the speed command value as it is. I want to reduce the translational speed and turning speed obtained by DWA at the same rate when the position of the obstacle obtained from / scan approaches the robot.

For that I tried to change the name of the topic of the DWA source code, but I do not know where it is.

I use package 「dwa_local_planner」. Thank you my friend.