 ros::NodeHandle_<ArduinoHardware, 2, 2, 125, 125> nh;
 
 std_msgs::Int32MultiArray imu_msg;
-long int imu_data[9];
+long int imu_data[8];
 ros::Publisher imu_pub("/imu_raw", &imu_msg);
 
 void setup()


    // Set the mag data rate to 50Hz
    ctrl5 &= ~0b00011100;
    ctrl5 |= ~0b00010000;
    
    lsm303.writeReg(0x24, ctrl5);
  }
}


  nh.initNode();

  imu_msg.data = (long int *) &imu_data;
  imu_msg.data_length = 8;
  nh.advertise(imu_pub);
  nh.spinOnce();

  Wire.begin();
  
  /* Initialize the sensor */
  if(iicScan() > 0) {
    lsm303.init();
    lsm303.enableDefault();
