   ros_bumper_left_msg.header.frame_id = "/bumper_left";
   ros_bumper_right_msg.header.frame_id = "/bumper_right";
   last_cmd_vel_time = current_time;
+  cmd_vel_timeout_exceeded = false;
   last_encoder_read_time = current_time;
   encoder_left_pos = 0;
   encoder_right_pos = 0;
   motor_left_speed = 0.0;
   motor_right_speed = 0.0;
+  external_stop = false;
+  fob_mode = 0;
   reference_wl = 0.0;
   reference_wr = 0.0;
   pose.x = 0.0;

}

void doMotorController(void) {
  // Get the current wheel angular velocity
  double sensed_wl = getAngularVelocityFromSamples(samples_wl);
  double sensed_wr = getAngularVelocityFromSamples(samples_wr);


  ros::Time current_time = ros_nh.now();

  // Check for external stop intervention.
  external_stop = checkEStop() || checkFobStop(fob_mode);
  
  // Update any timer callbacks
  timer.update();

