   ros_raw_odom_msg.child_frame_id = "/base_link";
   ros_bumper_left_msg.header.frame_id = "/bumper_left";
   ros_bumper_right_msg.header.frame_id = "/bumper_right";
+  ros_encoder_left_msg.header.frame_id = "/encoder_left";
+  ros_encoder_right_msg.header.frame_id = "/encoder_right";
   last_cmd_vel_time = current_time;
   cmd_vel_timeout_exceeded = false;
   last_encoder_read_time = current_time;

  setupTimerCallback(publish_raw_odom_freq_hz, doPublishRawOdom);
  setupTimerCallback(publish_raw_imu_freq_hz, doPublishRawImu);
  setupTimerCallback(publish_bumper_info_freq_hz, doPublishBumpers);
  setupTimerCallback(publish_teensy_debug_info_freq_hz, doTeensyDebug);
  setupTimerCallback(BLINK_FREQ_HZ, doBlink);


#include <LIS3MDL.h>

// Other includes
#include <limits.h>
#include <Timer.h>
#include "RosParamHelper.h"

