text: #pragma once
  
  #include "rclcpp/rclcpp.hpp"
  #include <boost/format.hpp>
  #include "robot_descriptions/msg/init.hpp"
  #include "robot_descriptions/msg/pos.hpp"
  #include "robot_descriptions/msg/vel.hpp"
  #include "robot_descriptions/msg/stop.hpp"
  
  using std::placeholders::_1;
  
  class NSSC : public rclcpp::Node
  {
  public:
      NSSC();
      void printInfo(std::string caller, std::string msg);
      void printError(std::string caller, std::string msg);
      void init_callback(const robot_descriptions::msg::Init::SharedPtr msg); 
      void pos_callback(const robot_descriptions::msg::Pos::SharedPtr msg); 
      void vel_callback(const robot_descriptions::msg::Vel::SharedPtr msg); 
      void stop_callback(const robot_descriptions::msg::Stop::SharedPtr msg); 
  private:
      const std::string caller = "Node";
      rclcpp::Subscription<robot_descriptions::msg::Init>::SharedPtr init_robot;
      rclcpp::Subscription<robot_descriptions::msg::Pos>::SharedPtr pos_action;
      rclcpp::Subscription<robot_descriptions::msg::Vel>::SharedPtr vel_action;
      rclcpp::Subscription<robot_descriptions::msg::Stop>::SharedPtr stop_robot;
  };