   {
     if (variable_flag == false)
     {      
+      imu.begin();
+
       odom_pose[0] = 0.0;
       odom_pose[1] = 0.0;
       odom_pose[2] = 0.0;

*******************************************************************************/
void updateTF(geometry_msgs::TransformStamped& odom_tf)
{
  odom.header.frame_id = "odom";
  odom.child_frame_id = "base_link";
  odom_tf.header = odom.header;
  odom_tf.child_frame_id = "base_footprint";
  odom_tf.transform.translation.x = odom.pose.pose.position.x;
  odom_tf.transform.translation.y = odom.pose.pose.position.y;
  odom_tf.transform.translation.z = odom.pose.pose.position.z;
  odom_tf.transform.rotation = odom.pose.pose.orientation;
}

/*******************************************************************************

bool updateOdometry(double diff_time)
{
  double odom_vel[3];
  float* quat4orientation;

  double wheel_l, wheel_r;      // rotation value of wheel [rad]
  double delta_s, theta, delta_theta;
