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#include "ros/ros.h"
#include "std_msgs/String.h"
#include <sstream>
#include <string>
#include <iostream>
#include <math.h> 
#include <cmath>
#include <vector>

#include <visualization_msgs/Marker.h>
#include <tf/transform_broadcaster.h>
#include <tf/transform_listener.h>
#include <tf/transform_datatypes.h>
#include <boost/format.hpp> 

#include <imu_network/filtered_imu.h>
#include <imu_network/filtered_imu_network.h>

#include <kfilter/ekfilter.hpp>
#include <kfilter/kvector.hpp>

// #include <math.h>
#include <stdlib.h>
#include <cstdlib>
#include <cfloat>
#include <float.h>
#include <assert.h>


#define MAX_MEAN_IT 64 //number of iterations to measure the mean values from gyroscopes

#define GYRO_CONVERT M_PI/180*0.069565 // conversion of gyro's values from ADC to rad/sec
#define DEGtoRAD M_PI/180

using namespace std;

ros::NodeHandle* n;

tf::TransformBroadcaster* br;
tf::TransformListener* listener;

ros::Publisher chatter_pub;
ros::Publisher vis_pub;


void publish_accel(int n, float ax , float ay , float az);
void publish_gyro(int n, float gx , float gy , float gz);
void publish_magn(int n, float mx , float my , float mz);
void publish_sensor_type(void);
void publish_sensor_number(int n);

float get_theta(float iteration1, float iteration2,float time_interval);
float get_magnitude(float x, float y, float z);
float get_angle(float num, float denom);


int sensors_number;
int first_run=0;
int marker_id;
int mean_it = 0;
tf::Transform transform1;
tf::Transform transform_tmp;

vector<ros::Time>time_stamp;
vector<float>gyro_valx;
vector<float>gyro_valy;
vector<float>gyro_valz;

vector<float>gyro_mean_vect[MAX_MEAN_IT][3]; //vectors for allocation of values of gyro for mean
vector<float>gyro_real_mean[3]; //vetor of gyro's means

int sensors_pos_y[9] = {0 , 5 , 30 , 35 , 8.75 , 8.75 , 26.25 , 26.25 , 17.5};
int sensors_pos_z[9] = {0 , 5 , 5 , 0 , -20 , -35 , -20 , -35 , 15 };
tf::Matrix3x3 imu_transform[9];
tf::Matrix3x3 imu_transform_result;

void chatterCallback(const imu_network::filtered_imu_network::ConstPtr& msg)
{
    double RPY_orient[3];
    double RPY_init[3];
    if(first_run ==0)
    {
        imu_transform[0].setValue(1,0,0,0,0,1,0,-1,0);
                imu_transform[1].setValue(1,0,0,0,1,0,0,0,1);
        imu_transform[2].setValue(1,0,0,0,1,0,0,0,1);
        imu_transform[3].setValue(1,0,0,0,0,1,0,-1,0);
        imu_transform[4].setValue(0,1,0,0,0,1,1,0,0);
        imu_transform[5].setValue(0,1,0,0,0,1,1,0,0);
        imu_transform[6].setValue(0,-1,0,0,0,-1,1,0,0);
        imu_transform[7].setValue(0,-1,0,0,0,-1,1,0,0);
        imu_transform[8].setValue(-1,0,0,0,0,-1,0,-1,0);
        sensors_number=(int)msg->filtered_imu_network[0].total_number;
        
        for (int i=0;i<sensors_number;i++)
        {

          // tf reference systems _ definition
          string sensor_base = str( boost::format("/sensor_base_%d") % i );
          string sensor  = str( boost::format("/sensor_%d") % i );
          // setting initial values of reference systems
          transform1.setOrigin( tf::Vector3(0.0, sensors_pos_y[i], sensors_pos_z[i]) );
          transform1.setRotation( tf::createQuaternionFromRPY(0,0,0) );
          br->sendTransform(tf::StampedTransform(transform1, ros::Time::now(), "/world", sensor_base));
          
          imu_transform[i].getRPY(RPY_init[0],RPY_init[1],RPY_init[2]);
          
          transform_tmp.setOrigin( tf::Vector3(0.0,0.0,0.0) );
          transform_tmp.setRotation(tf::createQuaternionFromRPY(RPY_orient[0],RPY_orient[1],RPY_orient[2]) );
          br->sendTransform(tf::StampedTransform(transform_tmp, ros::Time::now()-ros::Duration(5),sensor_base, sensor));
          
          gyro_valx.push_back(msg->filtered_imu_network[i].angular_velocity_x);
          gyro_valy.push_back(msg->filtered_imu_network[i].angular_velocity_y);
          gyro_valz.push_back(msg->filtered_imu_network[i].angular_velocity_z);

          cout<<gyro_valx[i]<<" "<<gyro_valy[i]<<" "<<gyro_valz[i]<<endl;

        }
        first_run = 1 ;  
        return;
    }

    float sensor_var[sensors_number][13];
        
    marker_id = 0;
    
    for(int i = 0;i<sensors_number;i++)
    {
        //getting the sensors_values from /topic_raw_data
        sensor_var[i][0]=msg->filtered_imu_network[i].linear_acceleration_x;
        sensor_var[i][1]=msg->filtered_imu_network[i].linear_acceleration_y;
        sensor_var[i][2]=msg->filtered_imu_network[i].linear_acceleration_z;
        sensor_var[i][3]=msg->filtered_imu_network[i].angular_velocity_x;
        sensor_var[i][4]=msg->filtered_imu_network[i].angular_velocity_y;
        sensor_var[i][5]=msg->filtered_imu_network[i].angular_velocity_z;
        sensor_var[i][6]=msg->filtered_imu_network[i].angular_displacement_x;
        sensor_var[i][7]=msg->filtered_imu_network[i].angular_displacement_y;
        sensor_var[i][8]=msg->filtered_imu_network[i].angular_displacement_z;
        sensor_var[i][9]=msg->filtered_imu_network[i].magnetometer_x;
        sensor_var[i][10]=msg->filtered_imu_network[i].magnetometer_y;
        sensor_var[i][11]=msg->filtered_imu_network[i].magnetometer_z;
        sensor_var[i][12]=msg->filtered_imu_network[i].number;
        

     
        string sensor_base = str( boost::format("/sensor_base_%d") % i );
        string sensor  = str( boost::format("/sensor_%d") % i );
        
        
        transform1.setOrigin( tf::Vector3(0.0, sensors_pos_y[i], sensors_pos_z[i]) );
        transform1.setRotation( tf::createQuaternionFromRPY(0,0,0) );
        br->sendTransform(tf::StampedTransform(transform1, ros::Time::now(), "/world", sensor_base));

        
        tf::StampedTransform transform_new;
        tf::StampedTransform transform_sensors;
        try
        {
          float delta_thetax = 0;
          float delta_thetay = 0;
          float delta_thetaz = 0;
          
          listener->lookupTransform(sensor_base, sensor, ros::Time(0), transform_new);
          tf::Quaternion q;
          q=transform_new.getRotation();
          tf::Matrix3x3(q).getRPY(RPY_orient[0],RPY_orient[1],RPY_orient[2]);
          

          delta_thetax = get_theta(gyro_valx[i],sensor_var[i][3],0.025);
          delta_thetay = get_theta(gyro_valy[i],sensor_var[i][4],0.025);
          delta_thetaz = get_theta(gyro_valz[i],sensor_var[i][5],0.025);

          if (msg->filtered_imu_network[i].algorithm == 0)
          {
              ROS_INFO("KALMAN_FILTER");
              transform_tmp.setRotation( tf::createQuaternionFromRPY(RPY_orient[0]+delta_thetax,RPY_orient[1]+delta_thetay,RPY_orient[2]+delta_thetaz)/* * tf::createQuaternionFromRPY(RPY_init[0],RPY_init[1],RPY_init[2])*/);
              transform_tmp.setOrigin(tf::Vector3(0,0,0));
              br->sendTransform(tf::StampedTransform(transform_tmp, ros::Time::now(), sensor_base, sensor));

              gyro_valx[i] = sensor_var[i][3];
              gyro_valy[i] = sensor_var[i][4];
              gyro_valz[i] = sensor_var[i][5];
          }
          if (msg->filtered_imu_network[i].algorithm == 1)
          {
              ROS_INFO("COMPLEMENTARY_FILTER");
              
              tf::Quaternion quat = tf::createQuaternionFromRPY(sensor_var[i][6],sensor_var[i][7],sensor_var[i][8]);
              imu_transform_result = tf::Matrix3x3(quat) * imu_transform[i].inverse();
              imu_transform_result.getRPY(RPY_init[0],RPY_init[1],RPY_init[2]);
              transform_tmp.setRotation(tf::createQuaternionFromRPY(RPY_init[0],RPY_init[1],RPY_init[2]));
          
                  transform_tmp.setRotation(tf::createQuaternionFromRPY(sensor_var[i][6],sensor_var[i][7],sensor_var[i][8]) * tf::createQuaternionFromRPY(RPY_init[0],RPY_init[1],RPY_init[2]).inverse());

              transform_tmp.setOrigin(tf::Vector3(0,0,0));
              
              br->sendTransform(tf::StampedTransform(transform_tmp, ros::Time::now(), sensor_base, sensor));
              
          }


        }
        catch (tf::TransformException ex)
        {
          ROS_ERROR("%s",ex.what());
        }

        publish_accel(i,sensor_var[i][0],sensor_var[i][1],sensor_var[i][2]);
        publish_gyro(i,sensor_var[i][3],sensor_var[i][4],sensor_var[i][5]);
        publish_magn(i,sensor_var[i][9],sensor_var[i][10],sensor_var[i][11]);

        publish_sensor_type();
        publish_sensor_number(i);
    }
    
}
float get_angle(float num, float denom)
{
    if (atan2(num,denom)!=NAN)
        return atan2(num,denom);
    else
        return 0;
}

float get_magnitude(float x, float y, float z)
{
    return sqrt(x*x+y*y+z*z);
}
float get_theta(float iteration1, float iteration2,float time_interval)
{
    float ret;
    float alpha = 0.5;

        ret = (iteration2-iteration1)*time_interval; //14.375 LSB/(º/s) inverse value is 0.069565

    return ret;
}

void publish_accel(int n, float ax , float ay , float az)
{
    int x_pos = -10;
    int y_pos = 10*n;
    
    marker_id++;
    visualization_msgs::Marker marker;
    marker.header.frame_id = "/world";
    marker.header.stamp = ros::Time::now();
    marker.ns = "my_namespace";
    marker.id =marker_id;
    marker.type = visualization_msgs::Marker::CUBE;
    marker.action = visualization_msgs::Marker::ADD;
    marker.pose.position.x = x_pos;
    marker.pose.position.y = sensors_pos_y[n];
    marker.pose.position.z = sensors_pos_z[n];
    marker.pose.orientation.x = 1.0;
    marker.pose.orientation.y = 0.0;
    marker.pose.orientation.z = 0.0;
    marker.pose.orientation.w = 0.0;
    marker.scale.x = 2.0;
    marker.scale.y = 2.0;
    marker.scale.z = 2.0;
    marker.color.a = 0.7;
    marker.color.r = 0.2;
    marker.color.g = 0.2;
    marker.color.b = 0.2;       
    
    marker_id++;
    visualization_msgs::Marker marker2;
    marker2.header.frame_id = "/world";
    marker2.header.stamp = ros::Time::now();
    marker2.ns = "my_namespace";
    marker2.id =marker_id;
    marker2.type = visualization_msgs::Marker::ARROW;
    marker2.action = visualization_msgs::Marker::ADD;
    marker2.pose.position.x = x_pos;
    marker2.pose.position.y = sensors_pos_y[n];
    marker2.pose.position.z = sensors_pos_z[n];
    marker2.pose.orientation.x = 1.0;
    marker2.pose.orientation.y = 0.0;
    marker2.pose.orientation.z = 0.0;
    marker2.pose.orientation.w = 0.0;
    marker2.scale.x = 3.0;
    marker2.scale.y = 5.0;
    marker2.scale.z = 18.0*ax/2048+1;
    marker2.color.a = 1.0;
    marker2.color.r = 1.0;
    marker2.color.g = 0.0;
    marker2.color.b = 0.0;
    
    marker_id++;
    visualization_msgs::Marker marker3;
    marker3.header.frame_id = "/world";
    marker3.header.stamp = ros::Time::now();
    marker3.ns = "my_namespace";
    marker3.id =marker_id;
    marker3.type = visualization_msgs::Marker::ARROW;
    marker3.action = visualization_msgs::Marker::ADD;
    marker3.pose.position.x = x_pos;
    marker3.pose.position.y = sensors_pos_y[n];
    marker3.pose.position.z = sensors_pos_z[n];
    marker3.pose.orientation.x = 1.0;
    marker3.pose.orientation.y = 1.0;
    marker3.pose.orientation.z = 0.0;
    marker3.pose.orientation.w = 0.0;
    marker3.scale.x = 3.0;
    marker3.scale.y = 3.0;
    marker3.scale.z = 18.0*ay/2048+1;
    marker3.color.a = 1.0;
    marker3.color.r = 0.0;
    marker3.color.g = 1.0;
    marker3.color.b = 0.0;
    
    marker_id++;
    visualization_msgs::Marker marker4;
    marker4.header.frame_id = "/world";
    marker4.header.stamp = ros::Time::now();
    marker4.ns = "my_namespace";
    marker4.id =marker_id;
    marker4.type = visualization_msgs::Marker::ARROW;
    marker4.action = visualization_msgs::Marker::ADD;
    marker4.pose.position.x = x_pos;
    marker4.pose.position.y = sensors_pos_y[n];
    marker4.pose.position.z = sensors_pos_z[n];
    marker4.pose.orientation.x = 1.0;
    marker4.pose.orientation.y = 0.0;
    marker4.pose.orientation.z = 1.0;
    marker4.pose.orientation.w = 0.0;
    marker4.scale.x = 3.0;
    marker4.scale.y = 3.0;
    marker4.scale.z = 18.0*az/2048+1;
    marker4.color.a = 1.0;
    marker4.color.r = 0.0;
    marker4.color.g = 0.0;
    marker4.color.b = 1.0;      
    
    vis_pub.publish(marker);
    vis_pub.publish( marker2 );
    vis_pub.publish( marker3 );
    vis_pub.publish( marker4 );
}

void publish_gyro(int n, float gx , float gy , float gz)
{
    int x_pos = 0;

        string sensor  = str( boost::format("/sensor_%d") % n );
    
    marker_id++;
    visualization_msgs::Marker marker;
    marker.header.frame_id = sensor;
    marker.header.stamp = ros::Time::now();
    marker.ns = "my_namespace";
    marker.id =marker_id;
    marker.type = visualization_msgs::Marker::CUBE;
    marker.action = visualization_msgs::Marker::ADD;
    marker.pose.position.x = x_pos;
    marker.pose.position.y = 0;
    marker.pose.position.z = 0;
    marker.pose.orientation.x = 1.0;
    marker.pose.orientation.y = 0.0;
    marker.pose.orientation.z = 0.0;
    marker.pose.orientation.w = 0.0;
    marker.scale.x = 3.0;
    marker.scale.y = 3.0;
    marker.scale.z = 0.6;
    marker.color.a = 0.7;
    marker.color.r = 0.2;
    marker.color.g = 0.2;
    marker.color.b = 0.2;       
    
    marker_id++;
    visualization_msgs::Marker marker2;
    marker2.header.frame_id = sensor;
    marker2.header.stamp = ros::Time::now();
    marker2.ns = "my_namespace";
    marker2.id =marker_id;
    marker2.type = visualization_msgs::Marker::ARROW;
    marker2.action = visualization_msgs::Marker::ADD;
    marker2.pose.position.x = x_pos;
    marker2.pose.position.y = 0;
    marker2.pose.position.z = 0;
    marker2.pose.orientation.x = 1.0;
    marker2.pose.orientation.y = 0.0;
    marker2.pose.orientation.z = 0.0;
    marker2.pose.orientation.w = 0.0;
    marker2.scale.x = 3.0;
    marker2.scale.y = 5.0;
    marker2.scale.z = 20.0*gx/10000+1;
    marker2.color.a = 1.0;
    marker2.color.r = 1.0;
    marker2.color.g = 0.0;
    marker2.color.b = 0.0;
    
    marker_id++;
    visualization_msgs::Marker marker3;
    marker3.header.frame_id = sensor;
    marker3.header.stamp = ros::Time::now();
    marker3.ns = "my_namespace";
    marker3.id =marker_id;
    marker3.type = visualization_msgs::Marker::ARROW;
    marker3.action = visualization_msgs::Marker::ADD;
    marker3.pose.position.x = x_pos;
    marker3.pose.position.y = 0;
    marker3.pose.position.z = 0;
    marker3.pose.orientation.x = 1.0;
    marker3.pose.orientation.y = 1.0;
    marker3.pose.orientation.z = 0.0;
    marker3.pose.orientation.w = 0.0;
    marker3.scale.x = 3.0;
    marker3.scale.y = 5.0;
    marker3.scale.z = 20.0*gy/10000+1;
    marker3.color.a = 1.0;
    marker3.color.r = 0.0;
    marker3.color.g = 1.0;
    marker3.color.b = 0.0;
    
    marker_id++;
    visualization_msgs::Marker marker4;
    marker4.header.frame_id = sensor;
    marker4.header.stamp = ros::Time::now();
    marker4.ns = "my_namespace";
    marker4.id =marker_id;
    marker4.type = visualization_msgs::Marker::ARROW;
    marker4.action = visualization_msgs::Marker::ADD;
    marker4.pose.position.x = x_pos;
    marker4.pose.position.y = 0;
    marker4.pose.position.z = 0;
    marker4.pose.orientation.x = 1.0;
    marker4.pose.orientation.y = 0.0;
    marker4.pose.orientation.z = 1.0;
    marker4.pose.orientation.w = 0.0;
    marker4.scale.x = 3.0;
    marker4.scale.y = 5.0;
    marker4.scale.z = 20.0*gz/10000+1;
    marker4.color.a = 1.0;
    marker4.color.r = 0.0;
    marker4.color.g = 0.0;
    marker4.color.b = 1.0;      
    
    vis_pub.publish(marker);
    vis_pub.publish( marker2 );
    vis_pub.publish( marker3 );
    vis_pub.publish( marker4 );
}

void publish_magn(int n, float mx , float my , float mz)
{
    int x_pos = 10;
    int y_pos = 10*n;
    
    marker_id++;
    visualization_msgs::Marker marker;
    marker.header.frame_id = "/world";
    marker.header.stamp = ros::Time::now();
    marker.ns = "my_namespace";
    marker.id =marker_id;
    marker.type = visualization_msgs::Marker::CUBE;
    marker.action = visualization_msgs::Marker::ADD;
    marker.pose.position.x = x_pos;
    marker.pose.position.y = sensors_pos_y[n];
    marker.pose.position.z = sensors_pos_z[n];
    marker.pose.orientation.x = 1.0;
    marker.pose.orientation.y = 0.0;
    marker.pose.orientation.z = 0.0;
    marker.pose.orientation.w = 0.0;
    marker.scale.x = 2.0;
    marker.scale.y = 2.0;
    marker.scale.z = 2.0;
    marker.color.a = 0.7;
    marker.color.r = 0.2;
    marker.color.g = 0.2;
    marker.color.b = 0.2;       
    
    marker_id++;
    visualization_msgs::Marker marker2;
    marker2.header.frame_id = "/world";
    marker2.header.stamp = ros::Time::now();
    marker2.ns = "my_namespace";
    marker2.id =marker_id;
    marker2.type = visualization_msgs::Marker::ARROW;
    marker2.action = visualization_msgs::Marker::ADD;
    marker2.pose.position.x = x_pos;
    marker2.pose.position.y = sensors_pos_y[n];
    marker2.pose.position.z = sensors_pos_z[n];
    marker2.pose.orientation.x = 1.0;
    marker2.pose.orientation.y = 0.0;
    marker2.pose.orientation.z = 0.0;
    marker2.pose.orientation.w = 0.0;
    marker2.scale.x = 3.0;
    marker2.scale.y = 5.0;
    marker2.scale.z = 10.0*mx/2048+1;
    marker2.color.a = 1.0;
    marker2.color.r = 1.0;
    marker2.color.g = 0.0;
    marker2.color.b = 0.0;      
    
    
    marker_id++;
    visualization_msgs::Marker marker3;
    marker3.header.frame_id = "/world";
    marker3.header.stamp = ros::Time::now();
    marker3.ns = "my_namespace";
    marker3.id =marker_id;
    marker3.type = visualization_msgs::Marker::ARROW;
    marker3.action = visualization_msgs::Marker::ADD;
    marker3.pose.position.x = x_pos;
    marker3.pose.position.y = sensors_pos_y[n];
    marker3.pose.position.z = sensors_pos_z[n];
    marker3.pose.orientation.x = 1.0;
    marker3.pose.orientation.y = 1.0;
    marker3.pose.orientation.z = 0.0;
    marker3.pose.orientation.w = 0.0;
    marker3.scale.x = 3.0;
    marker3.scale.y = 5.0;
    marker3.scale.z = 10.0*my/2048+1;
    marker3.color.a = 1.0;
    marker3.color.r = 0.0;
    marker3.color.g = 1.0;
    marker3.color.b = 0.0;
    
    marker_id++;
    visualization_msgs::Marker marker4;
    marker4.header.frame_id = "/world";
    marker4.header.stamp = ros::Time::now();
    marker4.ns = "my_namespace";
    marker4.id =marker_id;
    marker4.type = visualization_msgs::Marker::ARROW;
    marker4.action = visualization_msgs::Marker::ADD;
    marker4.pose.position.x = x_pos;
    marker4.pose.position.y = sensors_pos_y[n];
    marker4.pose.position.z = sensors_pos_z[n];
    marker4.pose.orientation.x = 1.0;
    marker4.pose.orientation.y = 0.0;
    marker4.pose.orientation.z = 1.0;
    marker4.pose.orientation.w = 0.0;
    marker4.scale.x = 3.0;
    marker4.scale.y = 5.0;
    marker4.scale.z = 10.0*mz/2048+1;
    marker4.color.a = 1.0;
    marker4.color.r = 0.0;
    marker4.color.g = 0.0;
    marker4.color.b = 1.0;      
    
    vis_pub.publish(marker);
    vis_pub.publish( marker2 );
    vis_pub.publish( marker3 );
    vis_pub.publish( marker4 );
}

void publish_sensor_type(void)
{
    string accel = "Acelerometro";
    string gyro = "Giroscopio";
    string magn = "Magnetometro";
    
    marker_id++;
    visualization_msgs::Marker marker;
    marker.header.frame_id = "/world";
    marker.header.stamp = ros::Time();
    marker.ns = "my_namespace";
    marker.id =marker_id;
    marker.type = visualization_msgs::Marker::TEXT_VIEW_FACING;
    marker.action = visualization_msgs::Marker::ADD;
    marker.pose.position.x = -10;
    marker.pose.position.y = 0;
    marker.pose.position.z = -5;
    marker.pose.orientation.x = 1.0;
    marker.pose.orientation.y = 1.0;
    marker.pose.orientation.z = 0.0;
    marker.pose.orientation.w = 0.0;
    marker.scale.x = 0.5;
    marker.scale.y = 0.5;
    marker.scale.z = 1.5;
    marker.color.a = 1.0;
    marker.color.r = 0.0;
    marker.color.g = 0.0;
    marker.color.b = 0.0;
    marker.text =accel;
    
    marker_id++;
    visualization_msgs::Marker marker2;
    marker2.header.frame_id = "/world";
    marker2.header.stamp = ros::Time();
    marker2.ns = "my_namespace";
    marker2.id =marker_id;
    marker2.type = visualization_msgs::Marker::TEXT_VIEW_FACING;
    marker2.action = visualization_msgs::Marker::ADD;
    marker2.pose.position.x = 0;
    marker2.pose.position.y = 0;
    marker2.pose.position.z = -5;
    marker2.pose.orientation.x = 1.0;
    marker2.pose.orientation.y = 1.0;
    marker2.pose.orientation.z = 0.0;
    marker2.pose.orientation.w = 0.0;
    marker2.scale.x = 0.5;
    marker2.scale.y = 0.5;
    marker2.scale.z = 1.5;
    marker2.color.a = 1.0;
    marker2.color.r = 0.0;
    marker2.color.g = 0.0;
    marker2.color.b = 0.0;
    marker2.text =gyro;
    
    marker_id++;
    visualization_msgs::Marker marker3;
    marker3.header.frame_id = "/world";
    marker3.header.stamp = ros::Time();
    marker3.ns = "my_namespace";
    marker3.id =marker_id;
    marker3.type = visualization_msgs::Marker::TEXT_VIEW_FACING;
    marker3.action = visualization_msgs::Marker::ADD;
    marker3.pose.position.x = 10;
    marker3.pose.position.y = 0;
    marker3.pose.position.z = -5;
    marker3.pose.orientation.x = 1.0;
    marker3.pose.orientation.y = 1.0;
    marker3.pose.orientation.z = 0.0;
    marker3.pose.orientation.w = 0.0;
    marker3.scale.x = 5.5;
    marker3.scale.y = 2.5;
    marker3.scale.z = 1.5;
    marker3.color.a = 1.0;
    marker3.color.r = 0.0;
    marker3.color.g = 0.0;
    marker3.color.b = 0.0;
    marker3.text =magn;
    
    vis_pub.publish(marker);
    vis_pub.publish(marker2);
    vis_pub.publish(marker3);
}

void publish_sensor_number(int n)
{
    string sens = "Sensor ";
    string nsensor;
    
    int sensors_pos_y[4] = {0 , 5 , 30 , 35};
    
    ostringstream convert;   // stream used for the conversion
    convert << n;      // insert the textual representation of 'Number' in the characters in the stream
    nsensor = sens + convert.str(); // set 'Result' to the contents of the stream
    
    
    
    int z_pos = -10;
    marker_id++;
    visualization_msgs::Marker marker;
    marker.header.frame_id = "/world";
    marker.header.stamp = ros::Time();
    marker.ns = "my_namespace";
    marker.id =marker_id;
    marker.type = visualization_msgs::Marker::TEXT_VIEW_FACING;
    marker.action = visualization_msgs::Marker::ADD;
    marker.pose.position.x = -15;
    marker.pose.position.y = sensors_pos_y[n];
    marker.pose.position.z = z_pos;
    marker.pose.orientation.x = 1.0;
    marker.pose.orientation.y = 1.0;
    marker.pose.orientation.z = 0.0;
    marker.pose.orientation.w = 0.0;
    marker.scale.x = 0.5;
    marker.scale.y = 0.5;
    marker.scale.z = 1.5;
    marker.color.a = 1.0;
    marker.color.r = 0.0;
    marker.color.g = 0.0;
    marker.color.b = 0.0;
    marker.text =nsensor;
    
    vis_pub.publish(marker);
}
int main(int argc, char **argv)
{   
    ros::init(argc, argv, "imu_rviz");
    n = new(ros::NodeHandle);
    br = new(tf::TransformBroadcaster);
    listener = new(tf::TransformListener);

    chatter_pub = n->advertise<imu_network::filtered_imu_network>("topic_filtered_imu", 1000);
    ros::Subscriber sub = n->subscribe("topic_filtered_imu", 1000, chatterCallback);

    
    vis_pub = n->advertise<visualization_msgs::Marker>( "marker_sensor", 0 );
        
    ros::spin();

    return 0;
}

---

imu_network
Author(s): Telmo Rafeiro
autogenerated on Wed Jul 23 04:34:06 2014