text: #include <ros/ros.h>
  
  /**
   * @brief ROS wrapper class for publishing messages to the iRobot Create 2 machine.
   *
   */
  class CreateDriverROSWrapper
  {
  public:
      CreateDriverROSWrapper();
      CreateDriverROSWrapper(ros::NodeHandle node);
      void drive(double velocity);
      void rotate(double velocity);
  
  private:
      ros::Publisher pub_cmd_vel;
  };