 {
   int32_t current_tick = 0;
   static int32_t last_tick[WHEEL_NUM] = {0, 0};
-  
+
   if (init_encoder)
   {
     for (int index = 0; index < WHEEL_NUM; index++)

void gripperMoveTimeCallback(const std_msgs::Float64& time_msg)
{
  double data = time_msg.data;
  
  manipulator_driver.writeGripperProfileControlParam(data);
}


void updateVariable(bool isConnected)
{
  static bool variable_flag = false;

  if (isConnected)
  {
    if (variable_flag == false)
    {
      sensors.initIMU();
      initOdom();

