void TransporterNode::velCallback(const geometry_msgs::Twist::ConstPtr& msg) { ROS_INFO("Move at vx [%f] & w [%f]", msg->linear.x, msg->angular.z); if (estopped) trobot.moveVelocity(0,0); else trobot.moveVelocity(msg->linear.x, msg->angular.z); publish_odom(); }