 double y;
 double th;
 
-ros::Time current_time;
-ros::Time previous_time;
-
 char ros_odom_header_frame_id[] = "/odom";
 char ros_odom_child_frame_id[] = "/base_link";
 

  timer.every((1.0/publish_magnetometer_freq_hz) * 1000, doPublishMagnetometer);
  timer.every(BLINK_DURATION, doBlink);
  
  current_time = ros_nh.now();
  previous_time = current_time;
  last_cmd_vel_time = current_time;
  last_odom_publish_time = current_time;
  last_encoder_read_time = current_time;

    motor_right_speed = 0;
  }

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

  // Update any timer callbacks
  timer.update();
