   nh.initNode();
 
   imu_msg.data = (long int *) &imu_data;
-  imu_msg.data_length = 9;
+  imu_msg.data_length = 8;
   nh.advertise(imu_pub);
   nh.spinOnce();
 
   Wire.begin();
   
-  /* Initialise the sensor */
+  /* Initialize the sensor */
   if(iicScan() > 0) {
     lsm303.init();
     lsm303.enableDefault();

ros::NodeHandle_<ArduinoHardware, 2, 2, 125, 125> nh;

std_msgs::Int32MultiArray imu_msg;
long int imu_data[9];
ros::Publisher imu_pub("/imu_raw", &imu_msg);

void setup()

    imu_data[5] = acc.z;
    imu_data[6] = temp_lo;
    imu_data[7] = temp_hi;
    imu_pub.publish(&imu_msg);
  }

