Compass Node - GarethG/ProjectRinzler GitHub Wiki

The compass node is tasked with several jobs. It must communicate with the PNI Compass to obtain Rinzlers current Heading, Pitch and Roll. #Services The compass does not depend on any services. #Messages The compass broadcasts the following messages;

ros::Publisher compassHeadingMsg = n.advertise<std_msgs::Float32>("compassHeading", 100);
ros::Publisher compassPitchMsg = n.advertise<std_msgs::Float32>("compassPitch", 100);
ros::Publisher compassRollMsg = n.advertise<std_msgs::Float32>("compassRoll", 100);

std_msgs::Float32 compassHeading;
std_msgs::Float32 compassPitch;
std_msgs::Float32 compassRoll;

rosrun compass compass