def obs_callback(self, msg):
cn0 = np.array([obs.cn0/4.0 for obs in msg.obs])
m = SignalStatus()
m.header.stamp = rospy.Time.now()
m.mean_cn0 = np.mean(cn0)
m.median_cn0 = np.median(cn0)
m.robust_mean_cn0 = np.mean(reject_outliers(cn0))
m.num_sats = len(msg.obs)
self.signal_pub.publish(m)
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