Creating ROS package for Magnetometer sensor data broadcasting

To broadcast the sensor data in ROS package is created using sensor_msgs dependency. Where sensor_msgs/MagneticField.msg (http://docs.ros.org/api/sensor_msgs/html/msg/MagneticField.html) is used to broadcast the Magnetometer data.

#!/usr/bin/env python

import rospy

from sensor_msgs.msg import MagneticField

import time

import board

import busio

import adafruit_lis3mdl

i2c = busio.I2C(board.SCL, board.SDA)

sensor = adafruit_lis3mdl.LIS3MDL(i2c)

def mag():

pub = rospy.Publisher('MagneticField', MagneticField, queue_size=10)

rospy.init_node('MagneticField', anonymous=True)

i=0

rate = rospy.Rate(10)

while not rospy.is_shutdown():

seq = i

mag_msg = MagneticField()

mag_msg.header.seq = seq

mag_msg.header.frame_id = 'lis3mdl'

mag_msg.header.stamp = rospy.Time.now()

mag_msg.magnetic_field.x = sensor.magnetic[0]

mag_msg.magnetic_field.y = sensor.magnetic[1]

mag_msg.magnetic_field.z = sensor.magnetic[2]

pub.publish(mag_msg)

i = i + 1

rate.sleep()

if __name__ == '__main__':

try:

mag()

except rospy.ROSInterruptException:

pass