Hello, I'm working with ROS and AirSim, I'm also using the AirSim ROS Wrapper to comunicate between the two. As you can see, in the link there are some publishers, subscribers and so on... to do the comunication.

I wrote a python script that subscribes to the topic /cmdvel and then publishes the twist messages on the AirSim topic /airsimnode/velcmdbodyframe (a topic from AirSim ROS Wrapper Node). I think the comunication between the two is fine, however when I try to publish on /cmdvel by doing "rostopic pub /cmd_vel geometry..." I get this warning message on my console:

Could not process inbound connection: topic types do not match: [airsim_ros_pkgs/VelCmd] vs. [geometry_msgs/Twist]{'topic': '/airsim_node/drone_1/vel_cmd_body_frame', 'tcp_nodelay': '0', 'md5sum': 'a787b2802160dcc7fe02d089e10afe56', 'type': 'airsim_ros_pkgs/VelCmd', 'callerid': '/airsim_node'}

I think both of these topics are geometry_msgs/Twist twist, I don't know what I'm doing wrong. Can somebody help me? I will leave my code here, in case there's any mistake:

import rospy                          
import roslib
import tf 
from std_msgs.msg import String
from geometry_msgs.msg import Twist

def callback(msg):
    pub = rospy.Publisher('/airsim_node/drone_1/vel_cmd_body_frame', Twist, queue_size=10)
    rospy.loginfo("Publishing: [%f, %f, %f]" %(msg.linear.x, msg.linear.y, msg.linear.z))
    pub.publish(msg)

def listener():
    global msg
    rospy.init_node('cmdvel_listener', anonymous=True)
    msg = Twist
    rospy.Subscriber("/cmd_vel", Twist, callback)
    rospy.spin()    

if __name__ == '__main__':
    listener()