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base_pose_ground_truth type?

Hello ros users. I am trying to subscribe to base_pose_ground_truth topic but I can't. My code is this:

nav_msgs::base_pose_ground_truth subs;
 double variable1;
 double variable2;
 void velsubcallback(const nav_msgs::base_pose_ground_truth& msg)
   {

  variable1=msg.twist.twist.linear.x;
    variable2=msg.twist.twist.angular.z;
     lectura_ros.linear=variable1;
     lectura_ros.angular=variable2;
     ROS_INFO("variable %f",lectura_ros.linear);

How can i subscribe on that topic?

Thanks!