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how to output velosity with ur_modern_driver

I am doing a project about robot-teleoperation now. By using ROS I have accomplished the position-control(even though there are time-delay between the master and slave).I find that the position control is not flexible enough,so I want to control the robot with velosity-control .After reading the explaination about link text ,I learned that maybe it's possible to control the jointspeed. After I

 roslauch ur_modern_driver ur_driver


 rostopic echo /ur_driver/jointspeed

There is no response anywhere,what's failure and what I should do to control the jointspeed? Any help should be appreciated!