text: #ifndef __OMNI_H__
  #define __OMNI_H__
  
  #include "ros/ros.h"
  #include "chasis.h"
  #include "geometry_msgs/Twist.h"
  
  class TianbotOmni : public TianbotChasis{
  public:
      TianbotOmni(ros::NodeHandle *nh);
  private:
      ros::Subscriber cmd_vel_sub_;
      void velocityCallback(const geometry_msgs::Twist::ConstPtr& msg);
  };
  
  #endif