ros_code.tmp

def initRos():
    # todo make the imports golbaly
    import rospy
    from std_msgs.msg import String
    from sensor_msgs.msg import Imu
    from sensor_msgs.msg import MagneticField

    pub_imu = rospy.Publisher("IMU0", Imu, queue_size=20)
    pub_mag = rospy.Publisher("MAG0", MagneticField, queue_size=20)
    rospy.init_node("imu_publisher1", anonymous=True)


def RosCallbackIMU(message, Description):
    imu_msg = Imu()
    imu_msg.header.frame_id = "IMU"
    imu_msg.header.seq = message.sample_number
    imu_msg.header.stamp = rospy.Time(message.unix_time, message.unix_time_nsecs)
    imu_msg.linear_acceleration.x = message.Data_01
    imu_msg.linear_acceleration.y = message.Data_02
    imu_msg.linear_acceleration.z = message.Data_03
    imu_msg.angular_velocity.x = message.Data_04
    imu_msg.angular_velocity.y = message.Data_05
    imu_msg.angular_velocity.z = message.Data_06
    pub_imu.publish(imu_msg)

    mag_msg = MagneticField()
    mag_msg.header.frame_id = "IMU"
    mag_msg.header.seq = message.sample_number
    mag_msg.header.stamp = rospy.Time(message.unix_time, message.unix_time_nsecs)
    mag_msg.magnetic_field.x = message.Data_07
    mag_msg.magnetic_field.y = message.Data_08
    mag_msg.magnetic_field.z = message.Data_09
    pub_mag.publish(mag_msg)