 }  
 
 ros::Subscriber<std_msgs::UInt8> steering_subscriber("robot_car_steering", &move_robot);
+ros::Subscriber<std_msgs::Int16> speed_subscriber("robot_car_speed", &set_speed);
 
 std_msgs::Int16 ultrasonic_sensor_message;
 ros::Publisher ultrasonic_sensor_publisher("robot_car_ultrasonic_sensor", &ultrasonic_sensor_message);

  nh.initNode();
  
  nh.subscribe(steering_subscriber);
}

void loop() 

int ENA=5;
int ENB=11;
int ABS = 100;

void set_speed(const std_msgs::Int16& msg)
{
  int new_speed = msg.data;
  
  if (new_speed <= 0)
  {
    ABS = 0;
  }
  else if (new_speed >= 255)
  {
    ABS = 255;
  } 
  else
  {
    ABS = msg.data;
  }
}

void move_robot(const std_msgs::UInt8& msg)
{ 
