text: 
  //  Copyright (c) 2003-2021 Xsens Technologies B.V. or subsidiaries worldwide.
  //  All rights reserved.
  //  
  //  Redistribution and use in source and binary forms, with or without modification,
  //  are permitted provided that the following conditions are met:
  //  
  //  1.	Redistributions of source code must retain the above copyright notice,
  //  	this list of conditions, and the following disclaimer.
  //  
  //  2.	Redistributions in binary form must reproduce the above copyright notice,
  //  	this list of conditions, and the following disclaimer in the documentation
  //  	and/or other materials provided with the distribution.
  //  
  //  3.	Neither the names of the copyright holders nor the names of their contributors
  //  	may be used to endorse or promote products derived from this software without
  //  	specific prior written permission.
  //  
  //  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY
  //  EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
  //  MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL
  //  THE COPYRIGHT HOLDERS OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
  //  SPECIAL, EXEMPLARY OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT 
  //  OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
  //  HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY OR
  //  TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
  //  SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.THE LAWS OF THE NETHERLANDS 
  //  SHALL BE EXCLUSIVELY APPLICABLE AND ANY DISPUTES SHALL BE FINALLY SETTLED UNDER THE RULES 
  //  OF ARBITRATION OF THE INTERNATIONAL CHAMBER OF COMMERCE IN THE HAGUE BY ONE OR MORE 
  //  ARBITRATORS APPOINTED IN ACCORDANCE WITH SAID RULES.
  //  
  
  #ifndef RAWACCELERATIONPUBLISHER_H
  #define RAWACCELERATIONPUBLISHER_H
  
  #include "packetcallback.h"
  #include <geometry_msgs/Vector3Stamped.h>
  
  struct RawAccelerationPublisher : public PacketCallback
  {
      ros::Publisher pub;
      std::string frame_id = DEFAULT_FRAME_ID;
  
      RawAccelerationPublisher(ros::NodeHandle &node)
      {
          int pub_queue_size = 5;
          ros::param::get("~publisher_queue_size", pub_queue_size);
          pub = node.advertise<geometry_msgs::Vector3Stamped>("imu/raw/acceleration", pub_queue_size);
          ros::param::get("~frame_id", frame_id);
      }
  
      void operator()(const XsDataPacket &packet, ros::Time timestamp)
      {
          if (packet.containsRawAcceleration())
          {
              geometry_msgs::Vector3Stamped msg;
  
              msg.header.stamp = timestamp;
              msg.header.frame_id = frame_id;
  
              XsVector accel = packet.rawAccelerationConverted();
  
              msg.vector.x = accel[0];
              msg.vector.y = accel[1];
              msg.vector.z = accel[2];
  
              pub.publish(msg);
          }
      }
  };
  
  #endif
  