     nh.advertise(imu_calibration_gyr_publisher);
     nh.advertise(imu_calibration_acc_publisher);
     nh.advertise(imu_calibration_mag_publisher);
+    nh.advertise(arduino_temperature_publisher);
 
     // Join I2C bus as Master with address #1
     Wire.begin(1);

ros::Publisher imu_calibration_gyr_publisher = ros::Publisher("imu/calibration/gyr", &int16_msg);
ros::Publisher imu_calibration_acc_publisher = ros::Publisher("imu/calibration/acc", &int16_msg);
ros::Publisher imu_calibration_mag_publisher = ros::Publisher("imu/calibration/mag", &int16_msg);

/*
 * End publisher definitions.

        }
    }

    // Temperature.
    if (arduino_temperature_sensor.get_and_clear_changed() || force_sensors) {
        float_msg.data = arduino_temperature_sensor.temperature.get();
        arduino_temperature_publisher.publish(&float_msg);
    }

    // Motion controller.
    motion_controller.update();
    if (motion_controller.a_encoder.get_and_clear_changed() || force_sensors) {
