   ros_encoder_right_pub.publish(&ros_encoder_right_msg);
 }
 
+/**
+ * Publish estop data to ros.
+ */
+void doPublishEStop(void) {
+  ros_estop_msg.stopped = external_stop;
+  ros_estop_pub.publish(&ros_estop_msg);
+}
+
 /*
  * Sets the speed for the motors. Values are expected
  * to be between -1 and 1. Values outside this range

ros::Publisher ros_encoder_left_pub("encoder_left", &ros_encoder_left_msg);
ros::Publisher ros_encoder_right_pub("encoder_right", &ros_encoder_right_msg);

// Position of robot
geometry_msgs::Pose2D pose;



  int publish_encoder_info_freq_hz = 
    ros_param_helper.getParam("publish_encoder_info_freq_hz", 10);
    
  int publish_estop_info_freq_hz = 
    ros_param_helper.getParam("publish_estop_info_freq_hz", 10);
    
  int publish_teensy_debug_info_freq_hz =
    ros_param_helper.getParam("publish_teensy_debug_info_freq_hz", 1);
