Callback function not executed

edit

Hello everyone, I've been trying to get this to work since many days but no avail. I am using an IMU sensor. (separate usb port). I'm trying to get the values from the sensor on my arduino via rosserial. Here is my arduino code for reference.

#include <ros.h>
#include <geometry_msgs/Pose2D.h>
#include <sensor_msgs/Imu.h>


double ox,oy,oz; //orientation in x,y,z. These are made global so that they will be automatically be updated via ROS 
callback functions

double lax,lay,laz; //Linear Acceleration in x, and z similarly.

double avx,avy,avz; //Angular velocity x,y,z

double x,y,theta; //Heading Parameters

double xt,yt,thetat; //TrueHeading Parameters


ros::NodeHandle n;


void updateData(const sensor_msgs::Imu& msg)
{  
n.loginfo("woot"); //This does not get printed.
lax = msg.linear_acceleration.x;
lay = msg.linear_acceleration.y;
laz = msg.linear_acceleration.z;

avx = msg.angular_velocity.x;
avy = msg.angular_velocity.y;
avz = msg.angular_velocity.z;

}


void updateHeading(const geometry_msgs::Pose2D& msg)

{
x = msg.x;
y = msg.y;
theta = msg.theta;

}


void updateHeadingTrueDegree(const geometry_msgs::Pose2D& msg)


{
xt = msg.x;  
yt = msg.y;
thetat = msg.theta;
}

ros::Subscriber<sensor_msgs::Imu> s1("imu/data", &updateData );

ros::Subscriber<geometry_msgs::Pose2D> s2("imu/HeadingTrue", &updateHeading );

ros::Subscriber<geometry_msgs::Pose2D> s3("imu/HeadingTrue_degree", &updateHeadingTrueDegree );


void setup()
{
n.getHardware()->setBaud(115200);
n.initNode();
n.subscribe(s1);
n.subscribe(s2);
n.subscribe(s3);
}

void loop()
{
  //n.loginfo("woot"); //This works

 n.spinOnce();

//delay(15);

}

The problem is that the callback functions aren't working(because loginfo line isn't printed). I've tried to introduce delays and increase the frequency of spinOnce function but it didn't work. Also the baud rate on both my arduino and sensor is fixed and equal to 1152000. The sensor doesn't work below this value. And the messages are gettting published from the sensor because rostopic echo imu/data works.

Thanks in advance :)

EDIT :

Hey people, I have an update! I tried to just subscribe to s2 and s3 and it works, I am guessing that's because it just needs to update 3 variables, but s1 is updating 6 things with huge precision(orientation.x,y,z,w & angular velocity..etc). So I rounded off stuff to 3 places but still no avail. I'm not sure what's the reason now.