removed deprecated source

scout_base/src/imu_broadcast_node.cpp

@@ -1,72 +0,0 @@
-/* 
- * imu_broadcast_node.cpp
- * 
- * Created on: Oct 02, 2019 19:09
- * Description: 
- * 
- * Copyright (c) 2019 Ruixiang Du (rdu)
- */
-
-#include <string>
-
-#include <lcm/lcm-cpp.hpp>
-#include "lcmtypes/wescore.hpp"
-
-#include <ros/ros.h>
-#include <sensor_msgs/Imu.h>
-
-ros::Publisher imu_pub;
-
-struct MessageBroadcaster
-{
-    void IMULCMCallback(const lcm::ReceiveBuffer *rbuf, const std::string &chan, const wescore_lcm_msgs::IMU *msg)
-    {
-        static uint64_t count = 0;
-        // std::cout << "imu msg received" << std::endl;
-        sensor_msgs::Imu imu_msg;
-        imu_msg.header.frame_id = "imu_link";
-        imu_msg.header.stamp = ros::Time::now();
-        imu_msg.header.seq = count++;
-
-        imu_msg.angular_velocity.x = msg->angular_velocity.x;
-        imu_msg.angular_velocity.y = msg->angular_velocity.y;
-        imu_msg.angular_velocity.z = msg->angular_velocity.z;
-
-        imu_msg.linear_acceleration.x = msg->linear_acceleration.x;
-        imu_msg.linear_acceleration.y = msg->linear_acceleration.y;
-        imu_msg.linear_acceleration.z = msg->linear_acceleration.z;
-
-        for (int i = 0; i < 9; ++i)
-        {
-            imu_msg.orientation_covariance[i] = msg->orientation_covariance[i];
-            imu_msg.angular_velocity_covariance[i] = msg->angular_velocity_covariance[i];
-            imu_msg.linear_acceleration_covariance[i] = msg->linear_acceleration_covariance[i];
-        }
-
-        imu_pub.publish(imu_msg);
-    }
-};
-
-int main(int argc, char **argv)
-{
-    // setup LCM
-    lcm::LCM lcm;
-
-    if (!lcm.good())
-        return 1;
-    MessageBroadcaster mb;
-    lcm.subscribe("sensor_hub_raw_imu", &MessageBroadcaster::IMULCMCallback, &mb);
-
-    // setup ROS node
-    ros::init(argc, argv, "imu_broadcast_node");
-    ros::NodeHandle nh;
-    imu_pub = nh.advertise<sensor_msgs::Imu>("imu", 1000);
-
-    ROS_INFO("Started broadcasting");
-    while (ros::ok())
-    {
-        lcm.handleTimeout(5);
-    }
-
-    return 0;
-}