Correct way to map velocity_controller/cmd_vel to /cmd_vel

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Hello!

I've created a differential robot using ros_control packages and everything works as expected. The only thing I couldn't quite get right is how to change the topic keeping track of the cmd_vel from /robot_velocity_controller/cmd_vel to just /cmd_vel. I've thought of using a topic relay, but it doesn't seem right. Is there a "native" way to do this in controller_manager? What is the correct way to do this?

Also, the same happens for the Odometry. I'd like for it to be published in /odom, but it is currently being published in /robot_velocity_controller/odom. Can I apply the same fix from cmd_vel?

Thank you!