 *******************************************************************************/
 void setup()
 {
+  nh.loginfo("Connected to OpenCR board!");
+  nh.loginfo("This core is compatible with TurtleBot3 Burger");  
+
   // Initialize ROS node handle, advertise and subscribe the topics
   nh.initNode();
   nh.getHardware()->setBaud(115200);

  nh.advertise(mag_pub);
  tfbroadcaster.init(nh);

  nh.loginfo("Connected to OpenCR board!");

  // Setting for Dynamixel motors
  motor_driver.init();


  tfs_msg.transform.rotation.y = imu.quat[2];
  tfs_msg.transform.rotation.z = imu.quat[3];

  tfs_msg.transform.translation.x = IMU_POS_X;
  tfs_msg.transform.translation.y = IMU_POS_Y;
  tfs_msg.transform.translation.z = IMU_POS_Z;

  tfbroadcaster.sendTransform(tfs_msg);
}
