     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;

int ltp=0; // left motor target position 
int rtp=0;
Servo s;
int i;

// WiFi configuration. Replace *** by your data//
const char* ssid = "Home";
const char* password = "!28081958AGUSTINNUNEZ!";
// Set the rosserial socket server IP address
IPAddress server(192,168,1,100);
// Set the rosserial socket server port
const uint16_t serverPort = 11411;


  digitalWrite(TRIGGER, LOW);
  duration = pulseIn(ECHO, HIGH);
  distance = (duration/2) / 29.1;
  sstep();
  return (int) distance;
}

