 ros::Subscriber<geometry_msgs::Twist> cmd_vel_topic("cmd_vel", &cmd_vel_callback);
 
 // Battery Voltage Publisher
-std_msgs::Float32 voltage_msg;
+std_msgs::UInt16 voltage_msg;
 ros::Publisher battery_topic("battery_voltage", &voltage_msg);
 
+// Published voltages as a uint16 in millivolts (5.806V = 5806 for example)
 void publishBatteryVoltage() {
   voltage_msg.data = getBatteryVoltage();
   battery_topic.publish( &voltage_msg );

#include <ZumoMotors.h>
#include "Timer.h"
#include <geometry_msgs/Twist.h>
#include <std_msgs/Float32.h>

// Distance between both wheels
#define WHEEL_OFFSET_M 0.1 // 10cm


  nh.initNode();
  nh.subscribe(cmd_vel_topic);
  nh.advertise(battery_topic);
}

void loop()
