 ros::Publisher ros_encoder_left_pub("encoder_left", &ros_encoder_left_msg);
 ros::Publisher ros_encoder_right_pub("encoder_right", &ros_encoder_right_msg);
 
+// EStop publisher
+victoria_sensor_msgs::EStop ros_estop_msg;
+ros::Publisher ros_estop_pub("estop", &ros_estop_msg);
+
 // Position of robot
 geometry_msgs::Pose2D pose;
 

    
  // Start the TRex
  trex_err = startTRex();

  // Setup pin configurations
  pinMode(BLINK_PIN, OUTPUT);

  // Setup Timer callbacks
  setupTimerCallback(read_encoders_freq_hz, doReadEncoders);

#include <victoria_nav_msgs/Odom2DRaw.h>
#include <victoria_sensor_msgs/DistanceDisplacement1D.h>
#include <victoria_sensor_msgs/EncoderCount.h>
#include <victoria_sensor_msgs/EStop.h>
#include <victoria_sensor_msgs/FobMode.h>
#include <victoria_sensor_msgs/IMURaw.h>

