   setupTimerCallback(publish_raw_imu_freq_hz, doPublishRawImu);
   setupTimerCallback(publish_bumper_info_freq_hz, doPublishBumpers);
   setupTimerCallback(publish_encoder_info_freq_hz, doPublishEncoders);
+  setupTimerCallback(publish_estop_info_freq_hz, doPublishEStop);
   setupTimerCallback(publish_teensy_debug_info_freq_hz, doTeensyDebug);
   setupTimerCallback(BLINK_FREQ_HZ, doBlink);
 

  ros_nh.advertise(ros_bumper_right_pub);
  ros_nh.advertise(ros_encoder_left_pub);
  ros_nh.advertise(ros_encoder_right_pub);
  ros_nh.advertise(ros_teensy_debug_pub);

  // Register ros subscribers


  int publish_encoder_info_freq_hz = 
    ros_param_helper.getParam("publish_encoder_info_freq_hz", 10);
    
  int publish_estop_info_freq_hz = 
    ros_param_helper.getParam("publish_estop_info_freq_hz", 10);
    
  int publish_teensy_debug_info_freq_hz =
    ros_param_helper.getParam("publish_teensy_debug_info_freq_hz", 1);
