Compass Node

The compass node is tasked with several jobs. It must communicate with the PNI Compass to obtain Rinzlers current Heading, Pitch and Roll.

#Services
The compass does not depend on any services.

#Messages
The compass broadcasts the following messages;

ros::Publisher compassHeadingMsg = n.advertise<std_msgs::Float32>("compassHeading", 100);
ros::Publisher compassPitchMsg = n.advertise<std_msgs::Float32>("compassPitch", 100);
ros::Publisher compassRollMsg = n.advertise<std_msgs::Float32>("compassRoll", 100);

With the following data types;

std_msgs::Float32 compassHeading;
std_msgs::Float32 compassPitch;
std_msgs::Float32 compassRoll;

#Runtime
The node can be run with the command;

rosrun compass compass

#Issues
There are currently no known software issues.
#Review Status
The compass node is pending review.
#Further Work
It would be useful if the compass software was modified so that we can obtain the temperature within Rinzler.