 sensor_msgs::JointState joint_states;
 ros::Publisher joint_states_pub("joint_states", &joint_states);
 
+// Global Velocity Msg Check
+geometry_msgs::Twist cmd_vel_check_msg;
+ros::Publisher cmd_vel_check_pub("cmd_vel_check", &cmd_vel_check_msg);
+
 /*******************************************************************************
 * Transform Broadcaster
 *******************************************************************************/

  // Show LED status
  showLedStatus();

  // Call all the callbacks waiting to be called at that point in time
  nh.spinOnce();
}

  nh.advertise(cmd_vel_rc100_pub);
  nh.advertise(odom_pub);
  nh.advertise(joint_states_pub);

  // Added Publisher to publish command velocity
  nh.advertise(cmd_vel_check_pub);
    
  tfbroadcaster.init(nh);

  nh.loginfo("Connected to OpenCR board!");
