 /*
  * Publish raw odometry to ros.
  */
-void doPublishRawOdom() {
+void doPublishRawOdom(void) {
   ros::Time current_time = ros_nh.now();
   static ros::Time last_raw_odom_publish_time(current_time);
   

  ros_teensy_debug_pub.publish(&teensy_debug_msg);
}

/*
 * Converts a frequency in hertz to the
 * number of milliseconds to match the
 * frequency. For example, 2 hz = 500 millis
 * or 100 hz = 10 millis.
 */
int convertFreqToMillis(int frequency) {
  return static_cast<int>((1.0/frequency) * 1000);
}

/**

/*
 * Publish imu data to ros.
 */
void doPublishRawImu(void) {
  ros::Time current_time = ros_nh.now();
  imu.read();
  mag.read();
