diff --git a/src/ros_node.cpp b/src/ros_node.cpp index 3f4d956c9545ce9f606bf69cb6d64c5c1159554c..cd52d75260e1a368a9e775592d15af1cb647465c 100644 --- a/src/ros_node.cpp +++ b/src/ros_node.cpp @@ -2,7 +2,7 @@ #include <sensor_msgs_ext/accelerometer.h> #include <sensor_msgs_ext/gyroscope.h> -#include <sensor_msgs_ext/magnetic_field.h> +#include <sensor_msgs_ext/magnetometer.h> #include <sensor_msgs_ext/temperature.h> #include <sensor_msgs_ext/covariance.h> @@ -41,7 +41,7 @@ ros_node::ros_node(std::shared_ptr<driver> driver, int argc, char **argv) // Set up data publishers. ros_node::m_publisher_accelerometer = ros_node::m_node->advertise<sensor_msgs_ext::accelerometer>("imu/accelerometer", 1); ros_node::m_publisher_gyroscope = ros_node::m_node->advertise<sensor_msgs_ext::gyroscope>("imu/gyroscope", 1); - ros_node::m_publisher_magnetometer = ros_node::m_node->advertise<sensor_msgs_ext::magnetic_field>("imu/magnetometer", 1); + ros_node::m_publisher_magnetometer = ros_node::m_node->advertise<sensor_msgs_ext::magnetometer>("imu/magnetometer", 1); ros_node::m_publisher_temperature = ros_node::m_node->advertise<sensor_msgs_ext::temperature>("imu/temperature", 1); // Initialize the driver and set parameters. @@ -232,7 +232,7 @@ void ros_node::data_callback(driver::data data) if(std::isnan(data.magneto_x) == false) { // Create magneto message. - sensor_msgs_ext::magnetic_field message_mag; + sensor_msgs_ext::magnetometer message_mag; // Fill magnetic field strengths (convert from uT to T) message_mag.x = static_cast<double>(data.magneto_x) * 0.000001; message_mag.y = static_cast<double>(data.magneto_y) * 0.000001;