 
   int publish_bumper_info_freq_hz = 
     ros_param_helper.getParam("publish_bumper_info_freq_hz", 10);
+
+  int publish_encoder_info_freq_hz = 
+    ros_param_helper.getParam("publish_encoder_info_freq_hz", 10);
     
   int publish_teensy_debug_info_freq_hz =
     ros_param_helper.getParam("publish_teensy_debug_info_freq_hz", 1);

#include <LIS3MDL.h>

// Other includes
#include <Timer.h>
#include "RosParamHelper.h"


  setupTimerCallback(publish_raw_odom_freq_hz, doPublishRawOdom);
  setupTimerCallback(publish_raw_imu_freq_hz, doPublishRawImu);
  setupTimerCallback(publish_bumper_info_freq_hz, doPublishBumpers);
  setupTimerCallback(publish_encoder_info_freq_hz, doPublishEncoders);
  setupTimerCallback(publish_teensy_debug_info_freq_hz, doTeensyDebug);
  setupTimerCallback(BLINK_FREQ_HZ, doBlink);

