text: #ifndef WHEELODOMETRYROS_H
  #define WHEELODOMETRYROS_H
  
  #include "../WheelOdom/WheelOdomFactory.h"
  #include <nav_msgs/Odometry.h>
  #include <ros/ros.h>
  #include <wheel_odom/steeringAngle.h>
  #include <wheel_odom/wheelSpeeds.h>
  
  namespace wheel_odom
  {
  
  class WheelOdometryROS
  {
      public:
      WheelOdometryROS( ros::NodeHandle nh, double length, double width );
  
      void steeringCallback( const wheel_odom::steeringAngleConstPtr& steeringAngle );
  
      void speedCallback( const wheel_odom::wheelSpeedsConstPtr& speed );
  
      private:
      WheelOdomPtr odom;
      WheelModel model_type;
  
      ros::Subscriber steering_sub;
      ros::Subscriber wheel_speeds_sub;
      ros::Publisher odom_pub;
  
      double m_dt;
      double m_timePrev;
      bool is_first_run;
  
      // for error bag only
      double pre_vx;
      int count;
  };
  }
  #endif // WHEELODOMETRYROS_H
  