diff --git a/src/plugins/teleop/CMakeLists.txt b/src/plugins/teleop/CMakeLists.txt
index 7186223a4..c0c136a25 100644
--- a/src/plugins/teleop/CMakeLists.txt
+++ b/src/plugins/teleop/CMakeLists.txt
@@ -5,4 +5,4 @@ ign_gui_add_plugin(Teleop
     Teleop.hh
   TEST_SOURCES # todo
     # Teleop_TEST.cc 
-)
\ No newline at end of file
+)
diff --git a/src/plugins/teleop/Teleop.cc b/src/plugins/teleop/Teleop.cc
index c8beffc03..39905ce23 100644
--- a/src/plugins/teleop/Teleop.cc
+++ b/src/plugins/teleop/Teleop.cc
@@ -31,9 +31,6 @@
 
 #include "Teleop.hh"
 
-/// \brief Publisher
-ignition::transport::Node::Publisher cmdVelPub;
-
 namespace ignition
 {
 namespace gui
@@ -43,7 +40,7 @@ namespace gui
     /// \brief Node for communication
     public: ignition::transport::Node node;
 
-    /// \brief Topic
+    /// \brief Topic. Set '/cmd_vel' as default.
     public: std::string topic = "/cmd_vel";
 
   };
@@ -56,9 +53,6 @@ using namespace gui;
 /////////////////////////////////////////////////
 Teleop::Teleop(): Plugin(), dataPtr(new TeleopPrivate)
 {
-  // Advertise publisher node
-  cmdVelPub = this->dataPtr->node.Advertise<ignition::msgs::Twist>
-    (this->dataPtr->topic);
 }
 
 /////////////////////////////////////////////////
@@ -77,15 +71,16 @@ void Teleop::LoadConfig(const tinyxml2::XMLElement *)
 }
 
 /////////////////////////////////////////////////
-void Teleop::OnForwardButton()
+void Teleop::OnDirectionButton(int _linearDirection, int _angularDirection)
 {
-  ignmsg << "[OnForwardButton]: Forward pressed " << std::endl;
   ignition::msgs::Twist cmdVelMsg;
-  cmdVelMsg.mutable_linear()->set_x(1.0);
-  cmdVelMsg.mutable_angular()->set_z(1.0);
 
-  cmdVelPub.Publish(cmdVelMsg);
+  cmdVelMsg.mutable_linear()->set_x(
+      _linearDirection*this->linearVel);
+  cmdVelMsg.mutable_angular()->set_z(
+      _angularDirection*this->angularVel);
 
+  cmdVelPub.Publish(cmdVelMsg);
 }
 
 /////////////////////////////////////////////////
@@ -97,6 +92,21 @@ void Teleop::OnTopicSelection(const QString& _topic)
       (this->dataPtr->topic);
 }
 
+/////////////////////////////////////////////////
+void Teleop::OnLinearVelSelection(const QString& _velocity)
+{
+  this->linearVel = _velocity.toDouble();
+  ignmsg << "[OnlinearVelSelection]: linear velocity: "
+      << linearVel << std::endl;
+}
+
+/////////////////////////////////////////////////
+void Teleop::OnAngularVelSelection(const QString& _velocity)
+{
+  this->angularVel = _velocity.toDouble();
+  ignmsg << "[OnlinearVelSelection]: angular velocity: "
+      << angularVel << std::endl;
+}
 
 // Register this plugin
 IGNITION_ADD_PLUGIN(ignition::gui::Teleop,
diff --git a/src/plugins/teleop/Teleop.hh b/src/plugins/teleop/Teleop.hh
index ec15d3ddf..3041148d6 100644
--- a/src/plugins/teleop/Teleop.hh
+++ b/src/plugins/teleop/Teleop.hh
@@ -48,14 +48,36 @@ namespace gui
     // Documentation inherited
     public: virtual void LoadConfig(const tinyxml2::XMLElement *) override;
 
-    // 
-    public slots: void OnForwardButton();
+    /// \brief Callback in Qt thread when the direction of the movement changes.
+    /// \param[in] _linearDirection variable to indicate if the robot its going
+    /// forward or backward.
+    /// \param[in] _angularDirection variable to indicate if the robot its
+    /// turning left or right.
+    public slots: void OnDirectionButton(
+        int _linearDirection, int _angularDirection);
 
+    /// \brief Callback in Qt thread when the topic changes.
+    /// \param[in] _topic variable to indicate the topic in which to
+    /// publish the Twist commands.
     public slots: void OnTopicSelection(const QString& _topic);
 
+    /// \brief Callback in Qt thread when the linear velocity changes.
+    /// \param[in] _velocity variable to indicate the linear velocity.
+    public slots: void OnLinearVelSelection(const QString& _velocity);
+
+    /// \brief Callback in Qt thread when the linear velocity changes.
+    /// \param[in] _velocity variable to indicate the angular velocity.
+    public slots: void OnAngularVelSelection(const QString& _velocity);
+
     /// \internal
     /// \brief Pointer to private data.
     private: std::unique_ptr<TeleopPrivate> dataPtr;
+
+    /// \brief Publisher
+    ignition::transport::Node::Publisher cmdVelPub;
+
+    float linearVel;
+    float angularVel;
   };
 }
 }
diff --git a/src/plugins/teleop/Teleop.qml b/src/plugins/teleop/Teleop.qml
index bddd776f3..a359e6118 100644
--- a/src/plugins/teleop/Teleop.qml
+++ b/src/plugins/teleop/Teleop.qml
@@ -23,7 +23,7 @@ import QtQuick.Layouts 1.3
 
 Rectangle {
   Layout.minimumWidth: 250
-  Layout.minimumHeight: 200
+  Layout.minimumHeight: 400
   anchors.fill: parent
 
   Label {
@@ -50,9 +50,57 @@ Rectangle {
     }
   }
 
+  Label {
+    id: linearVelLabel
+    text: "Linear:"
+    anchors.top: topicField.bottom
+    anchors.topMargin: 10
+    anchors.left: parent.left
+    anchors.leftMargin: 5
+  }
+  TextField {
+    id: linearVelField
+    anchors.top: topicField.bottom
+    anchors.topMargin: 5
+    anchors.left: linearVelLabel.right//ambiar a linear label
+    anchors.leftMargin: 5
+    anchors.right: buttonsGrid.right
+    Layout.fillWidth: true
+    text: "0.0"
+
+    placeholderText: qsTr("Linear velocity...")
+    onTextChanged: {
+      Teleop.OnLinearVelSelection(text)
+    }
+  }
+
+  Label {
+    id: angularVelLabel
+    text: "Angular:"
+    anchors.top: linearVelField.bottom
+    anchors.topMargin: 10
+    anchors.left: parent.left
+    anchors.leftMargin: 5
+  }
+  TextField {
+    id: angularVelField
+    anchors.top: linearVelField.bottom
+    anchors.topMargin: 5
+    anchors.left: angularVelLabel.right
+    anchors.leftMargin: 5
+    anchors.right: buttonsGrid.right
+    Layout.fillWidth: true
+    text: "0.0"
+
+    placeholderText: qsTr("Angular velocity...")
+    onTextChanged: {
+      Teleop.OnAngularVelSelection(text)
+    }
+  }
+
   GridLayout {
     id: buttonsGrid
-    anchors.top: topicField.bottom
+    anchors.top: angularVelField.bottom
     anchors.topMargin: 15
     anchors.left: parent.left
     anchors.leftMargin: 5
@@ -66,7 +114,7 @@ Rectangle {
       Layout.row: 0
       Layout.column: 1
       onClicked: {
-        Teleop.OnForwardButton()
+        Teleop.OnDirectionButton(1,0)
       }
       Material.background: Material.primary
       style: ButtonStyle {
@@ -89,7 +137,7 @@ Rectangle {
       Layout.row: 1
       Layout.column: 0
       onClicked: {
-        Teleop.OnLeftButton()
+        Teleop.OnDirectionButton(0, 1)
       }
       Material.background: Material.primary
       style: ButtonStyle {
@@ -112,7 +160,7 @@ Rectangle {
       Layout.row: 1
       Layout.column: 2
       onClicked: {
-        Teleop.OnRightButton()
+        Teleop.OnDirectionButton(0,-1)
       }
       Material.background: Material.primary
       style: ButtonStyle {
@@ -135,7 +183,7 @@ Rectangle {
       Layout.row: 2
       Layout.column: 1
       onClicked: {
-        Teleop.OnBackwardButton()
+        Teleop.OnDirectionButton(-1, 0)
       }
       Material.background: Material.primary
       style: ButtonStyle {
@@ -151,4 +199,5 @@ Rectangle {
       }
     }
   }
+
 }