 
 void loop() {
   // Check bumper thresholds to stop robot
-  // TODO(mwomack): Figure out how to support ROS instructing going backwards
   bumper_left = analogRead(BUMPER_LEFT_PIN);
   bumper_right = analogRead(BUMPER_RIGHT_PIN);
   bumper_stop = bumper_left < 450 || bumper_right < 450;

#define MAX_SPEED 4.71      // in meters/second

// Bumper sensors
#define BUMPER_THRESHOLD 300  // Threshold that will indicate robot should stop
bool bumper_stop = false; // Set to true if bumpers indicate robot should stop
unsigned int bumper_left;
unsigned int bumper_right;


// ROS includes
#include <ros.h>
#include <geometry_msgs/Quaternion.h>
#include <geometry_msgs/Twist.h>
#include <nav_msgs/Odometry.h>
#include <tf/tf.h>
#include <tf/transform_broadcaster.h>
#include <std_msgs/String.h>

