     ros_param_helper.getParam("cmd_vel_timeout_threshold", 0.5);
 
   motor_controller_cmd_timeout = 
-    ros_param_helper.getParam("motor_controller_cmd_timeout", 0.5);
+    ros_param_helper.getParam("motor_controller_cmd_timeout", 0.75);
 
   ticks_per_radian = 
     ros_param_helper.getParam("victoria_ticks_per_radian", 9072);

  return total / NUM_VEL_SAMPLES;
}

bool startTRex() {
  // TODO(mwomack): Move all the TRex stuff into a helper class!
  

  ros_bumper_right_msg.max_value = MAX_FORCE_RIGHT_BUMPER;
  ros_bumper_right_msg.value = bumperRight;

  ros_bumper_left_pub.publish(&ros_bumper_left_msg);
  ros_bumper_right_pub.publish(&ros_bumper_right_msg);
}

/*
