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

  return distance_sample_lower + (intermediatePercentage * (distance_sample_upper - distance_sample_lower));
}

/*
 * Sets the speed for the motors. Values are expected
 * to be between -1 and 1. Values outside this range

  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;
