text: //<ros/ros.h> is a header file to utilise all of the ros functions
  #include <ros/ros.h>
  
  //these message headers are to manipulate the messages. needed for laser_pub...
  #include <sensor_msgs/LaserScan.h>
  #include <sensor_msgs/Range.h>
  
  //headers needed for tf_pub and tf_sub
  #include <geometry_msgs/PointStamped.h>
  //#include <ros/angles.h>
  #include <std_msgs/String.h>
  
  //general c++ headers for input and output
  #include <iostream>
  #include <string>
  
  //our operational frequency and the amount of readings we want to keep
  #define OP_FREQ 600
  #define NUM_READINGS 100
  
  
  