   nh.subscribe(motor_sub);
   
   // Encoder Pubs
-  //nh.advertise(left_encoder_pub);
-  //nh.advertise(right_encoder_pub);
+  // nh.advertise(left_encoder_pub);
+  // nh.advertise(right_encoder_pub);
   
   // Wheel Speeds in rad/s
   nh.advertise(right_wheel_pub);

ros::NodeHandle_<ArduinoHardware, 5, 5, 256, 256>  nh;

// Encoder Messages
std_msgs::Int32 l_enc_msg;
std_msgs::Int32 r_enc_msg;

// Wheel Speed Messages
std_msgs::Float32 l_wheel_msg;


// Initialize Publishers
//ros::Publisher left_encoder_pub("left_encoder", &l_enc_msg);
//ros::Publisher right_encoder_pub("right_encoder", &l_enc_msg);
ros::Publisher left_wheel_pub("lw_speed", &l_wheel_msg);
ros::Publisher right_wheel_pub("rw_speed", &r_wheel_msg);

// Placeholders for wheel speeds in rad/s
