#!/usr/bin/env python
import rospy
from geometry_msgs.msg import Twist
from ros_start.srv import SetVelocity
from ros_start.srv import SetVelocityResponse

MAX_LINEAR_VELICITY = 1.0
MIN_LINEAR_VELICITY = -1.0
MAX_ANGULAR_VELICITY = 2.0
MIN_ANGULAR_VELICITY = -2.0

def velocity_handler(req):
    vel = Twist()
    is_set_success = True
    if req.linear_velocity <= MAX_LINEAR_VELICITY and (
            req.linear_velocity >= MIN_LINEAR_VELICITY):
        vel.linear.x = req.linear_velocity
    else:
        is_set_success = False
    if req.angular_velocity <= MAX_ANGULAR_VELICITY and (
            req.angular_velocity >= MIN_ANGULAR_VELICITY):
        vel.angular.z = req.angular_velocity
    else:
        is_set_success = False
    print vel
    if is_set_success:
        pub.publish(vel)
    return SetVelocityResponse(success=is_set_success)

if __name__ == '__main__':
    rospy.init_node('velocity_server')
    pub = rospy.Publisher('/mobile_base/commands/velocity', Twist, queue_size=10)
    service_server = rospy.Service('set_velocity', SetVelocity, velocity_handler)
    rospy.spin()

@@ -159,25 +159,25 @@
 X_LINEAR_VEL
-I
+O
 CITY = 1.0%0AM
@@ -185,25 +185,25 @@
 N_LINEAR_VEL
-I
+O
 CITY = -1.0%0A
@@ -213,25 +213,25 @@
 _ANGULAR_VEL
-I
+O
 CITY = 2.0%0AM
@@ -240,25 +240,25 @@
 _ANGULAR_VEL
-I
+O
 CITY = -2.0%0A
@@ -369,25 +369,25 @@
 X_LINEAR_VEL
-I
+O
 CITY and (%0A 
@@ -430,25 +430,25 @@
 N_LINEAR_VEL
-I
+O
 CITY):%0A     
@@ -568,25 +568,25 @@
 _ANGULAR_VEL
-I
+O
 CITY and (%0A 
@@ -635,17 +635,17 @@
 ULAR_VEL
-I
+O
 CITY):%0A 

Fix typo