   }
   
   distance_publisher.publish(&distance_msg);
-}+}

  } 
}

void laserprint(){
  for(byte i = 0; i < 6; i++){
    Serial.print(i);
    Serial.print(" - ");
    Serial.print(Controller.lidars[i]->distance);
    Serial.print(" - ");
    Serial.println(Controller.lidars[i]->strength);
  }
}

void laserpublish(){
  distance_msg.lasers_length = 6;
  distance_msg.status_length = 6;


void beginLidars() {
  // Initialisation of the lidars objects
  LZ1.begin(Z1_LASER_EN, Z1_LASER_PIN, Z1_LASER_TRIG, Z1_LASER_AD, 2, DISTANCE,'x');
  LZ2.begin(Z2_LASER_EN, Z2_LASER_PIN, Z2_LASER_TRIG, Z2_LASER_AD, 2, DISTANCE,'X');
  LZ3.begin(Z3_LASER_EN, Z3_LASER_PIN, Z3_LASER_TRIG, Z3_LASER_AD, 2, DISTANCE,'y');
  LZ4.begin(Z4_LASER_EN, Z4_LASER_PIN, Z4_LASER_TRIG, Z4_LASER_AD, 2, DISTANCE,'Z');
  LZ5.begin(Z5_LASER_EN, Z5_LASER_PIN, Z5_LASER_TRIG, Z5_LASER_AD, 2, DISTANCE,'y');
  LZ6.begin(Z6_LASER_EN, Z6_LASER_PIN, Z6_LASER_TRIG, Z6_LASER_AD, 2, DISTANCE,'Z');
  
  // Initialisation of the controller
  Controller.begin(WIRE400K);
