   ros_nh.subscribe(ros_cmd_vel_sub);
   
   // Initialize and connect to ros
+  ros_nh.getHardware()->setBaud(115200);
   ros_nh.initNode();
   while(!ros_nh.connected()) {
     ros_nh.spinOnce();

    ros_param_helper.getParam("cmd_vel_timeout_threshold", 0.5);

  motor_controller_cmd_timeout = 
    ros_param_helper.getParam("motor_controller_cmd_timeout", 0.5);

  ticks_per_radian = 
    ros_param_helper.getParam("victoria_ticks_per_radian", 9072);

  return total / NUM_VEL_SAMPLES;
}

/*
 * Starts up the TReX motor controller. Returns false if
 * started without any error.
 */
bool startTRex() {
  // TODO(mwomack): Move all the TRex stuff into a helper class!
  
