subscribe to imu <Solved>

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hi i am trying to subscribe to an imu data the imu is connected to arduino mega when i run arduino it work fine and when i see the topic there is an imu data that is publish and i can see it change but when i try to subscribe to it i git this error [WARN] [WallTime: 1466005750.393726] Could not process inbound connection: topic types do not match: [geometry_msgs/Vector3] vs. [sensor_msgs/Imu]{'topic': '/imu', 'tcp_nodelay': '0', 'md5sum': '4a842b65f413084dc2b10fb484ea7f17', 'type': 'geometry_msgs/Vector3', 'callerid': '/base_controller_node'} i use indigo

i subscribe as follow:

void handle_imu( const geometry_msgs::Vector3 angular_velocity) {

gyro_x = angular_velocity.x;

gyro_y = angular_velocity.y;

gyro_z = angular_velocity.z; }

and in the arduino code i use

#include <sensor_msgs imu.h=""> i need to know is there any other way to subscribe to imu and why this problem occure thanks i wish you can help.

this is how i subscribe to the imu :

int main(int argc, char** argv){

ros::init(argc, argv, "base_controller");

ros::NodeHandle n;

ros::NodeHandle nh_private_("~");

ros::Subscriber sub = n.subscribe("rpm", 50, handle_rpm);

ros::Subscriber imu_sub = n.subscribe("imu", 50, handle_imu);

ros::Publisher odom_pub = n.advertise<nav_msgs::odometry>("odom", 50);

tf::TransformBroadcaster broadcaster;

i need to git the the angular velocity

note: i tried this void handle_imu(const sensor_msgs::Imu::ConstPtr &angular_velocity)

{ gyro_x = angular_velocity->x;

gyro_y = angular_velocity->y;

gyro_z = angular_velocity->z; } and i got the following msg

r: ‘const struct sensor_msgs::Imu_<std::allocator<void> >’ has no member named ‘x’ { gyro_x = angular_velocity->x; ^ /home/owner/catkin_ws/src/beginner_tutorials/src/base_controller.cpp:43:28: error: ‘const struct sensor_msgs::Imu_<std::allocator<void> >’ has no member named ‘y’ gyro_y = angular_velocity->y; ^ /home/owner/catkin_ws/src/beginner_tutorials/src/base_controller.cpp:45:28: error: ‘const struct sensor_msgs::Imu_<std::allocator<void> >’ has no member named ‘z’ gyro_z = angular_velocity->z;