 std_msgs::Int16 int_msg;
 ros::Publisher leftenc("/car/lencoder", &int_msg);
 ros::Publisher rightenc("/car/rencoder", &int_msg);
-ros::Publisher range("/car/range", &int_msg);
+ros::Publisher pub_range("/ultrasound", &range_msg);
 ros::Publisher angle("/car/angle", &int_msg);
 
 // ROS SUBSCRIBERS

    last_lmc = current_lmc;
    last_rmc = current_rmc;
    last_time = current_time;
    //compute odometry in a typical way given the velocities of the robot
    double delta_x = (vx * cos(th) - vy * sin(th)) * dt;
    double delta_y = (vx * sin(th) + vy * cos(th)) * dt;
    x += delta_x;

int rtp=0;
Servo s;
int sa=80; // Servo center position
int sd=1;  // Servo step
int smax=120; // Servo max angle
int smin=40;  // Servo min Angle
int sr=0;     // counter for 
int sp=10;    // number of loops among range measurements

