Hello @girishkumar.kannan ,
The problem is that the first message (forward) is not published because the Publisher is not initialized yet. Add a sleep right after creating the Publisher:
rospy.init_node('holonomic_controller', anonymous=True)
pub = rospy.Publisher('wheel_speed', Float32MultiArray, queue_size=10)
rospy.sleep(1.0)
This should fix the problem.