   nh.subscribe(motor_sub);
   
   // Encoder Pubs
-  nh.advertise(left_encoder_pub);
-  nh.advertise(right_encoder_pub);
+  //nh.advertise(left_encoder_pub);
+  //nh.advertise(right_encoder_pub);
   
   // Wheel Speeds in rad/s
   nh.advertise(right_wheel_pub);

  // Write Speeds to motor driver
  pmd.setSpeeds(lm_cmd, rm_cmd);
  
  delay(25);
}


  // Set last known encoder ticks
  L_LastEncoderValue = L_encoderValue;
  R_LastEncoderValue = R_encoderValue;

  L_LastEncoderDelta = L_EncoderDelta;
  R_LastEncoderDelta = R_EncoderDelta;
}

ros::Subscriber<scr_proto::SpeedCommand> motor_sub("speed_command", MotorCallback);
