global.h

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#define THROTTLE_VALUE 10
#define FRAME_ID_STRING "xsens"

#include <xsensdeviceapi.h>

#include <ros/ros.h>
#include <ros/console.h>

#define PI 3.14159265359
#define GRAVITY 9.80665

typedef struct _outputSettings{
                        int orientationFreq;
                        bool orientationData;

                        int gpsFreq;
                        bool gpsData;

                        int temperatureFreq;
                        bool temperatureData;

                        int accelerationFreq;
                        bool accelerationData;

                        int pressureFreq;
                        bool pressureData;

                        int magneticFreq;
                        bool magneticData;

                        int altitudeFreq;
                        bool altitudeData;

                        int gyroscopeFreq;
                        bool gyroscopeData;

                        int velocityFreq;
                        bool velocityData;
                } outputSettings;