 void loop()
 {
   receiveRemoteControlData();
-
+  uint32_t t = millis();
+  update_time();
   if ((millis()-tTime[0]) >= (1000 / CONTROL_MOTOR_SPEED_PERIOD))
   {
     controlMotorSpeed();


  // Call all the callbacks waiting to be called at that point in time
  nh.spinOnce();
}

/*******************************************************************************

* ROS NodeHandle
*******************************************************************************/
ros::NodeHandle nh;
ros::Time current_time;
uint32_t current_offset;

/*******************************************************************************
* Subscriber
