Translates from JderobotTypes CMDVel to ROS Twist.

    @param vel: JderobotTypes CMDVel to translate

    @type img: JdeRobotTypes.CMDVel

    @return a Twist translated from vel

def cmdvel2PosTarget(vel):
    '''
    Translates from JderobotTypes CMDVel to ROS Twist.

    @param vel: JderobotTypes CMDVel to translate

    @type img: JdeRobotTypes.CMDVel

    @return a Twist translated from vel

    '''
    msg=PositionTarget(
        header=Header(
            stamp=rospy.Time.now(),
            frame_id=''),
    )
    msg.coordinate_frame = 8
    msg.type_mask = 1475
    msg.position.x = vel.px
    msg.position.y = vel.py
    msg.position.z = vel.pz
    msg.velocity.x = vel.vx
    msg.velocity.y = vel.vy
    msg.velocity.z = vel.vz
    msg.acceleration_or_force.x = vel.ax
    msg.acceleration_or_force.y = vel.ay
    msg.acceleration_or_force.z = vel.az
    msg.yaw = vel.yaw
    msg.yaw_rate = vel.yaw_rate
    return msg