 }
 ros::Subscriber<std_msgs::Int16> set_ultrabright_sub("ultrabright_set", &on_set_ultrabright);
 
-void toggle_led(bool default_r=true, bool default_g=false, bool default_b=false) {
+void toggle_led(bool default_r = true, bool default_g = false, bool default_b = false) {
     rgb_led_state = !rgb_led_state;
-    if(rgb_led_state) {
-        if(rgb_led_r_value || rgb_led_g_value || rgb_led_b_value) {
+    if (rgb_led_state) {
+        if (rgb_led_r_value || rgb_led_g_value || rgb_led_b_value) {
             digitalWrite(STATUS_LED_RED, rgb_led_r_value);
             digitalWrite(STATUS_LED_GREEN, rgb_led_g_value);
             digitalWrite(STATUS_LED_BLUE, rgb_led_b_value);


    pinMode(LINE_LASER_SET, OUTPUT);
    digitalWrite(LINE_LASER_SET, 0);
    
    blink_period = DISCONNECTED_BLINK_PERIOD;
    last_blink = 0;
}

    rgb_led_r_value = msg.data[0];
    rgb_led_g_value = msg.data[1];
    rgb_led_b_value = msg.data[2];
    if (rgb_led_state) {
        digitalWrite(STATUS_LED_RED, rgb_led_r_value);
        digitalWrite(STATUS_LED_GREEN, rgb_led_g_value);
        digitalWrite(STATUS_LED_BLUE, rgb_led_b_value);
