class MotorControllerNode(object): def __init__(self): rospy.init_node('motor_controller_node') self.motor = MotorController() sub = rospy.Subscriber('motor/speed_motors', Int32MultiArray, self.adjust_motor) def adjust_motor(self, data): speed_values = np.array(data.data) right_speed = speed_values[0] left_speed = speed_values[1] self.motor.cmd_move_motors(right_speed, left_speed) def stop(self): self.motor.brake()