   {
     ABS = msg.data;
   }
+  
+  nh.logdebug("Speed set to: " + ABS);
 }
 
 void move_robot(const std_msgs::UInt8& msg)

}  

ros::Subscriber<std_msgs::UInt8> steering_subscriber("robot_car_steering", &move_robot);
ros::Subscriber<std_msgs::Int16> speed_subscriber("robot_car_speed", &set_speed);

std_msgs::Int16 ultrasonic_sensor_message;
ros::Publisher ultrasonic_sensor_publisher("robot_car_ultrasonic_sensor", &ultrasonic_sensor_message);

int ENB=11;
int ABS = 100;

void set_speed(const std_msgs::UInt8& msg)
{
  int new_speed = msg.data;
  
