  / communications.
  */
 #include <ros.h>
-#include <std_msgs/Int32.h>
+#include <std_msgs/String.h>
 #include <command2ros/ManualCommand.h>
 #include <EncoderFL.h>
 #include <EncoderML.h>

bool currentlyRotating = false;
bool currentlyDriving = false;

// How long should we drive for (milliseconds)?
unsigned long driveTimeMillis = 0;
//DriveUntil: Used when driving forwards.

    retval = true;
    targetWheelStatus[FRONT_LEFT_DRIVE_MOTOR_ID].orientation = (int)nmc.fl_articulation_angle;
  }

  // Check if the middle-left wheel orientation should be changed.
  if(targetWheelStatus[MIDDLE_LEFT_DRIVE_MOTOR_ID].orientation != (int)nmc.ml_articulation_angle)
  {
    retval = true;
    targetWheelStatus[MIDDLE_LEFT_DRIVE_MOTOR_ID].orientation = (int)nmc.ml_articulation_angle;
  }

  // Check if the rear-left wheel orientation should be changed.
  if(targetWheelStatus[REAR_LEFT_DRIVE_MOTOR_ID].orientation != (int)nmc.rl_articulation_angle)
  {
    retval = true;
    targetWheelStatus[REAR_LEFT_DRIVE_MOTOR_ID].orientation = (int)nmc.rl_articulation_angle;
  }

  // Check if the front-right wheel orientation should be changed.
  if(targetWheelStatus[FRONT_RIGHT_DRIVE_MOTOR_ID].orientation != (int)nmc.fr_articulation_angle)
  {
    retval = true;
    targetWheelStatus[FRONT_RIGHT_DRIVE_MOTOR_ID].orientation = (int)nmc.fr_articulation_angle;
  }

  // Check if the middle-right wheel orientation should be changed.
  if(targetWheelStatus[MIDDLE_RIGHT_DRIVE_MOTOR_ID].orientation != (int)nmc.mr_articulation_angle)
  {
    retval = true;
    targetWheelStatus[MIDDLE_RIGHT_DRIVE_MOTOR_ID].orientation = (int)nmc.mr_articulation_angle;
  }

  // Check if the rear-right wheel orientation should change.
  if(targetWheelStatus[REAR_RIGHT_DRIVE_MOTOR_ID].orientation != (int)nmc.rr_articulation_angle)
  {
    retval = true;
    targetWheelStatus[REAR_RIGHT_DRIVE_MOTOR_ID].orientation = (int)nmc.rr_articulation_angle;
  }

  // Update target drive speeds.
  targetWheelStatus[FRONT_LEFT_DRIVE_MOTOR_ID].velocity = (long)nmc.fl_drive_speed;
  targetWheelStatus[FRONT_RIGHT_DRIVE_MOTOR_ID].velocity = (long)nmc.fr_drive_speed;
