old_contents: #!/usr/bin/env python
  #
  # Command the robot to change its current vector. The reason that we use
  # a service instead of simply publishing a twist message is that the
  # remote always starts after the robot is running. The subscriber cannot 
  # be started before the publisher.
  #
  # Package: teleop. Define the Twist message as a command.
  #
  import sys
  import rospy
  from geometry_msgs.msg import Twist
  from teleop_service.srv import TwistCommand,TwistCommandRequest,TwistCommandResponse
  
  pub = rospy.Publisher('/cmd_vel',Twist,queue_size=1)
  
  def handleTwist(request):
  	response = TwistCommandResponse()
  	twist = Twist()
  	twist.linear.x = request.linear_x
  	twist.linear.y = request.linear_y
  	twist.linear.z = request.linear_z
  	twist.angular.x= requerst.angular_x
  	twist.angular.y= requerst.angular_y
  	twist.angular.z= requerst.angular_z
  	response.msg = ""
  	rospy.loginfo("sb_serve_twist_command:" )
  	# Publish Twist
  	pub.publist(twist)
  	return response
  
  
  if __name__ == "__main__":
  	rospy.init_node('sb_twist_command')
  	serve = rospy.Service('/sb_serve_twist_command',TwistCommand,handleTwist)
  	rospy.spin()
  
new_contents: #!/usr/bin/env python
  #
  # Command the robot to change its current vector. The reason that we use
  # a service instead of simply publishing a twist message is that the
  # remote always starts after the robot is running. The subscriber cannot 
  # be started before the publisher.
  #
  # Package: teleop. Define the Twist message as a command.
  #
  import sys
  import rospy
  from geometry_msgs.msg import Twist
  from teleop_service.srv import TwistCommand,TwistCommandRequest,TwistCommandResponse
  
  pub = rospy.Publisher('/cmd_vel',Twist,queue_size=1)
  
  def handleTwist(request):
  	response = TwistCommandResponse()
  	twist = Twist()
  	twist.linear.x = request.linear_x
  	twist.linear.y = request.linear_y
  	twist.linear.z = request.linear_z
  	twist.angular.x= request.angular_x
  	twist.angular.y= request.angular_y
  	twist.angular.z= request.angular_z
  	response.msg = ""
  	rospy.loginfo("Twist Command: %2.2f,%2.2f,%2.2f %2.2f,%2.2f,%2.2f"%(twist.linear.x,twist.linear.y,twist.linear.z,twist.angular.x,twist.angular.y,twist.angular.z) )
  	# Publish Twist
  	pub.publish(twist)
  	return response
  
  
  if __name__ == "__main__":
  	rospy.init_node('sb_twist_command')
  	serve = rospy.Service('/sb_serve_twist_command',TwistCommand,handleTwist)
  	rospy.spin()
  
subject: Fix teleop service.