diff --git a/projects/vehicles/controllers/ros_automobile/RosAutomobile.cpp b/projects/vehicles/controllers/ros_automobile/RosAutomobile.cpp
index e2ddb376e97..63a6c3cbd50 100644
--- a/projects/vehicles/controllers/ros_automobile/RosAutomobile.cpp
+++ b/projects/vehicles/controllers/ros_automobile/RosAutomobile.cpp
@@ -71,6 +71,9 @@ RosAutomobile::~RosAutomobile() {
   mWheelSpeedPublisher[1].shutdown();
   mWheelSpeedPublisher[2].shutdown();
   mWheelSpeedPublisher[3].shutdown();
+
+  mSteeringAngleSubscriber.shutdown();
+  mThrottleSubscriber.shutdown();
 }
 
 void RosAutomobile::setupRobot() {
@@ -151,6 +154,9 @@ void RosAutomobile::launchRos(int argc, char **argv) {
   mWheelSpeedPublisher[1] = nodeHandle()->advertise<webots_ros::Float64Stamped>("automobile/front_left_wheel_speed", 1);
   mWheelSpeedPublisher[2] = nodeHandle()->advertise<webots_ros::Float64Stamped>("automobile/rear_right_wheel_speed", 1);
   mWheelSpeedPublisher[3] = nodeHandle()->advertise<webots_ros::Float64Stamped>("automobile/rear_left_wheel_speed", 1);
+
+  mSteeringAngleSubscriber = nodeHandle()->subscribe("automobile/set_throttle", 2, &RosAutomobile::throttleCallback, this);
+  mThrottleSubscriber = nodeHandle()->subscribe("automobile/set_steering_angle", 2, &RosAutomobile::steeringAngleCallback, this);
 }
 
 void RosAutomobile::setRosDevices(const char **hiddenDevices, int numberHiddenDevices) {
@@ -322,6 +328,16 @@ bool RosAutomobile::setWiperModeCallback(webots_ros::set_int::Request &req, webo
   return true;
 }
 
+void RosAutomobile::steeringAngleCallback(const webots_ros::Float64Stamped msg)
+{
+  car()->setSteeringAngle(msg.data);
+}
+
+void RosAutomobile::throttleCallback(const webots_ros::Float64Stamped msg)
+{
+  car()->setThrottle(msg.data);
+}
+
 int RosAutomobile::step(int duration) {
   // publish topics
   webots_ros::Float64Stamped value;
diff --git a/projects/vehicles/controllers/ros_automobile/RosAutomobile.hpp b/projects/vehicles/controllers/ros_automobile/RosAutomobile.hpp
index 0580ceb5ea1..f4fc9446400 100644
--- a/projects/vehicles/controllers/ros_automobile/RosAutomobile.hpp
+++ b/projects/vehicles/controllers/ros_automobile/RosAutomobile.hpp
@@ -17,6 +17,7 @@
 
 #include <webots/vehicle/Car.hpp>
 
+#include <webots_ros/Float64Stamped.h>
 #include <webots_ros/get_float.h>
 #include <webots_ros/get_int.h>
 #include <webots_ros/set_bool.h>
@@ -64,6 +65,9 @@ class RosAutomobile : public Ros {
   bool setThrottleCallback(webots_ros::set_float::Request &req, webots_ros::set_float::Response &res);
   bool setWiperModeCallback(webots_ros::set_int::Request &req, webots_ros::set_int::Response &res);
 
+  void steeringAngleCallback(const webots_ros::Float64Stamped msg);
+  void throttleCallback(const webots_ros::Float64Stamped msg);
+
 protected:
   virtual void setupRobot();
   virtual void setRosDevices(const char **hiddenDevices, int numberHiddenDevices);
@@ -113,6 +117,9 @@ class RosAutomobile : public Ros {
   ros::Publisher mThrottlePublisher;
   ros::Publisher mWheelEncoderPublisher[4];
   ros::Publisher mWheelSpeedPublisher[4];
+
+  ros::Subscriber mSteeringAngleSubscriber;
+  ros::Subscriber mThrottleSubscriber;
 };
 
 #endif  // ROS_AUTOMOBILE_HPP