def imu_data_publisher(self):
while not rospy.is_shutdown():
imu = Imu()
imu.header.stamp = rospy.Time.now()
imu.header.frame_id = "sailboat"
[
imu_raw_msg.orientation.x, imu_raw_msg.orientation.y,
imu_raw_msg.orientation.z, imu_raw_msg.orientation.w
] = tf.transformations.quaternion_from_euler(
self.roll, self.pitch, math.radians(self.heading))
imu.angular_velocity = Vector3(self.GyroX, self.GyroY, self.GyroZ)
imu.linear_acceleration = Vector3(self.AccX, self.AccY, self.AccZ)
imu.orientation_covariance = self.orientation_covar
imu.angular_velocity_covariance = self.gyro_covar
imu.linear_velocity_covariance = self.acc_covar
imu_pub.publish(imu)
self.rate.sleep()
