 
 void loop()
 {
+  if (digitalRead(3) == LOW) {
+    digitalWrite(RIGHT, LOW);
+    digitalWrite(LEFT, LOW);
+  }
   if (millis() > publisher_timer) {
     if (digitalRead(RIGHT)) {
       str_msg_right.data = "ON";

}

void message_leftCb(const std_msgs::Bool& toggle_msg) {
  if (toggle_msg.data) {
    digitalWrite(LEFT, HIGH);
  } else {
    digitalWrite(LEFT, LOW);

{
  pinMode(RIGHT, OUTPUT);
  pinMode(LEFT, OUTPUT);
  pinMode(3, INPUT_PULLUP);
  nh.getHardware()->setBaud(115200);
  nh.initNode();
  nh.subscribe(sub_right);
