diff --git a/control/velocity_controller/setup.py b/control/velocity_controller/setup.py
index 4212e72ef..8adeda275 100644
--- a/control/velocity_controller/setup.py
+++ b/control/velocity_controller/setup.py
@@ -1,24 +1,25 @@
 from setuptools import find_packages, setup
 
-package_name = 'velocity_controller'
+package_name = "velocity_controller"
 
 setup(
     name=package_name,
-    version='0.0.0',
-    packages=find_packages(exclude=['test']),
+    version="0.0.0",
+    packages=find_packages(exclude=["test"]),
     data_files=[
-        ('share/ament_index/resource_index/packages',
-         ['resource/' + package_name]),
-        ('share/' + package_name, ['package.xml']),
+        ("share/ament_index/resource_index/packages", ["resource/" + package_name]),
+        ("share/" + package_name, ["package.xml"]),
     ],
-    install_requires=['setuptools'],
+    install_requires=["setuptools"],
     zip_safe=True,
-    maintainer='cyprian',
-    maintainer_email='cyprian@todo.todo',
-    description='TODO: Package description',
-    license='TODO: License declaration',
-    tests_require=['pytest'],
+    maintainer="cyprian",
+    maintainer_email="cyprian@todo.todo",
+    description="TODO: Package description",
+    license="TODO: License declaration",
+    tests_require=["pytest"],
     entry_points={
-        'console_scripts': [],
+        "console_scripts": [
+            "velocity_controller = control/velocity_controller.velocity_controller:main"
+        ],
     },
 )
diff --git a/control/velocity_controller/velocity_controller/velocity_controller.py b/control/velocity_controller/velocity_controller/velocity_controller.py
index aa6d46dd3..a41998c77 100644
--- a/control/velocity_controller/velocity_controller/velocity_controller.py
+++ b/control/velocity_controller/velocity_controller/velocity_controller.py
@@ -1,2 +1,29 @@
 #!usr/bin/env/python 3
 import rclpy
+from nav_msgs.msg import Odometry
+from rclpy.node import Node
+
+
+class VelocityNode(Node):
+    def __init__(self):
+        super().__init__("input_subscriber")
+        self.topic_subscriber = self.create_subscription(
+            Odometry, "/nucleus/odom", self.subscribe_callback, 10
+        )
+
+    def subscribe_callback(self, msg: Odometry):
+        self.get_logger().info(
+            f"position_x: {msg.pose.pose.position.x}\n_y: {msg.pose.pose.position.y}\n_z: {msg.pose.pose.position.z}"
+        )
+
+
+def main(args=None):
+    rclpy.init(args=args)
+    node = VelocityNode()
+    rclpy.spin(node)
+
+    rclpy.shutdown()
+
+
+if __name__ == "__main__":
+    main()