   ros_bumper_right_msg.max_value = MAX_FORCE_RIGHT_BUMPER;
   ros_bumper_right_msg.value = bumperRight;
 
-  ros_raw_imu_pub.publish(&ros_bumper_left_msg);
-  ros_raw_imu_pub.publish(&ros_bumper_right_msg);
+  ros_bumper_left_pub.publish(&ros_bumper_left_msg);
+  ros_bumper_right_pub.publish(&ros_bumper_right_msg);
 }
 
 /*

  trex.write(0x55); // constant format byte 1
  trex.write(0x2A); // constant format byte 2
  while (!trex.available()) {}
  return (trex.read() == 0x00);
}

// Callback for blink

geometry_msgs::Pose2D pose;

// Debug publishers
victoria_debug_msgs::TeensyDebug teensy_debug_msg;
ros::Publisher ros_teensy_debug_pub("teensy_debug", &teensy_debug_msg);

