# Revision history [back]

Hmm, I don't see how that ever would have worked. Maybe the author forgot to push a later commit. Anyhow, try changing that block of code to this, which actually compiles and seems to work (at least, data is published--I can't say if it's right or not):

// publish tilt angle and status
if (pub_tilt_angle.getNumSubscribers() > 0)
{
std_msgs::Float64 angle_msg;
angle_msg.data = tilt_angle/2;
pub_tilt_angle.publish(angle_msg);
}

if (pub_tilt_status.getNumSubscribers() > 0)
{
std_msgs::UInt8 status_msg;
status_msg.data = tilt_status;
pub_tilt_status.publish(status_msg);
}