def __init__(self):
# Read Settings
self.read_settings()
# Init other variables
self._num_magnetometer_reads = 0
self._latest_bearings = np.zeros(shape = (self._number_samples_average, 1))
self._received_enough_samples = False
# Subscribe to magnetometer topic
rospy.Subscriber("magnetic_field", Vector3Stamped, self.magnetic_field_callback)
# Publishers
self._pub_bearing_raw = rospy.Publisher(rospy.get_name() + '/bearing_raw_deg',
Float64, queue_size = 10)
self._pub_bearing_avg = rospy.Publisher(rospy.get_name() + '/bearing_avg_deg',
Float64, queue_size = 10)
self._pub_imu_bearing_avg = rospy.Publisher(rospy.get_name() + '/imu_bearing_avg',
Imu, queue_size = 10)
if self._verbose:
self._pub_mag_corrected = rospy.Publisher(rospy.get_name() + '/mag_corrected',
Vector3Stamped, queue_size = 10)
rospy.spin()
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