 }
 
 void loop() {
-    
+
 //    if(millis() - last_debug > 1000){
 //        last_debug = millis();
 //        //snprintf(buffer, MAX_OUT_CHARS, "EXTERNAL_POWER_SENSE_1_PIN: %d", analogRead(EXTERNAL_POWER_SENSE_1_PIN));

        snprintf(buffer, MAX_OUT_CHARS, "Power controller state changed: %d", power_controller.power_state.get());
        nh.loginfo(buffer);
    }
    
    // Battery state change.
    if (batter_changed) {
        batter_changed = false;

            if (ultrasonic_sensors[i].get_and_clear_changed() || force_sensors) {
                //int16_msg.data = ultrasonic_sensors[i].distance.get();
                //ultrasonic_publishers[i].publish(&int16_msg);

                // http://docs.ros.org/jade/api/sensor_msgs/html/msg/Range.html
                // http://wiki.ros.org/rosserial_arduino/Tutorials/Time%20and%20TF
                range_msg.header.stamp = nh.now();
