robottype_publisher_est_pos_odo_create(&robot.orte, send_est_pos_odo_cb, &robot.orte);
robottype_publisher_est_pos_indep_odo_create(&robot.orte, send_est_pos_indep_odo_cb, &robot.orte);
robottype_publisher_est_pos_best_create(&robot.orte, send_est_pos_best_cb, &robot.orte);
+ robottype_publisher_match_time_create(&robot.orte, send_match_time_cb, &robot.orte);
//???robottype_publisher_pwr_ctrl_create(&robot.orte, NULL, &robot.orte);
// I didn't know what was the difference between the callback function pointer