 ros::Publisher leftenc("/car/lencoder", &int_msg);
 ros::Publisher rightenc("/car/rencoder", &int_msg);
 ros::Publisher range("/car/range", &int_msg);
+ros::Publisher angle("/car/angle", &int_msg);
 
 // ROS SUBSCRIBERS
 ros::Subscriber<std_msgs::Int16> sub_f("/car/forward", &forwardCallback);
 ros::Subscriber<std_msgs::Int16> sub_b("/car/backward", &backwardCallback);
 ros::Subscriber<std_msgs::Int16> sub_l("/car/left", &leftCallback);
 ros::Subscriber<std_msgs::Int16> sub_r("/car/right", &rightCallback);
-ros::Subscriber<std_msgs::Int16> sub_a("/car/angle", &angleCallback);
 
 double x = 1.0;
 double y = 0.0;

  len = abs(msg.data);
  motion(lpwm,rpwm,LOW,LOW,len);
}
void angleCallback(const std_msgs::Int16& msg) {
  i = abs(msg.data);
  s.write(i);
}
int srange(){  // calculate distance from ultrasonic sensor
  long duration, distance;

    broadcaster.sendTransform(t);
    int_msg.data = srange();
    range.publish( &int_msg );
    int_msg.data = sa;
    angle.publish( &int_msg );
    int_msg.data = lmc;
    leftenc.publish( &int_msg );
    int_msg.data = rmc;
