diff --git a/src/simulator/simulator/sim.py b/src/simulator/simulator/sim.py
index b863534..a3f0665 100644
--- a/src/simulator/simulator/sim.py
+++ b/src/simulator/simulator/sim.py
@@ -243,6 +243,7 @@ class Sim(Node):
         super().__init__('sim')
         self.publisher_ = self.create_publisher(Float64, 'distance', 10)
         self.velopub = self.create_publisher(Float64, 'velocity', 10)
+        self.velopub2 = self.create_publisher(Float64, 'lead_velocity', 10)
         self.clear = self.create_publisher(Float64, 'clearCenter', 10)
         self.timer = self.create_timer(0.05, self.callback)
         self.subscription = self.create_subscription(Float64,'inputPower', self.call, 10)
@@ -263,6 +264,10 @@ class Sim(Node):
         msg.data = followingVelocityMpS * 1.00
         self.velopub.publish(msg)
 
+        msg = Float64()
+        msg.data = leadingVelocityMpS * 1.00
+        self.velopub2.publish(msg)
+
         msg = Float64()
         msg.data = clearZoneCenter * 1.00
         self.clear.publish(msg)