sensor_msgs::Imu.h causes ROS version mismatch in rosserial_arduino

edit

I've been following the Simple Subscriber and am wanting to send IMU data over rosserial. I'm using an Arduino UNO.

So starting with the base code they gave, I started with:

// #define USE_USBCON

#include <ros.h>
#include <std_msgs/String.h>

ros::NodeHandle nh;

std_msgs::String str_msg;
ros::Publisher chatter("chatter", &str_msg);

void setup() {
  nh.initNode();
  nh.advertise(chatter);
}

void loop() {
  str_msg.data = hello;
  chatter.publish(&str_msg);
  nh.spinOnce();
  delay(1000);
}

This worked as-is. However, I want to send IMU messages instead. This was when I got this:

So instead of std_msgs::String str_msg;, it was sensor_msgs::Imu imu_msg;.

[ERROR] [xxxx]: Unable to sync with device; possible link problem or link software version mismatch such as hydro rosserial_python with groovy Arduino

So, I un-commented #define USE_USBCON. This spewed errors like iostream not existing. Turns out that #define USE_USBCON has to go after <ros/ros.h>. This still resulted in the above message, but now I'm getting:

[ERROR] [xxxx] Message from device dropped: message larger than buffer.

At this point, I referred to this question and:

• #define BUFFER_SIZE
• Changing the byte values in ros.h/ros/node_handle.h

However, now I'm just getting:

[ERROR] [xxxx]: Unable to sync with device; possible link problem or link software version mismatch such as hydro rosserial_python with groovy Arduino

The code at this point, just looks like:

#define USE_USBCON

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

ros::NodeHandle nh;

sensor_msgs::Imu imu_msg;
ros::Publisher chatter("chatter", &imu_msg);

void setup() {
  nh.initNode();
  nh.advertise(chatter);
}

void loop() {
  imu_msg.orientation.x = 0;
  imu_msg.orientation.y = 0;
  imu_msg.orientation.z = 0;
  imu_msg.angular_velocity.x = 0;
  imu_msg.angular_velocity.y = 0;
  imu_msg.angular_velocity.z = 0;
  imu_msg.linear_acceleration.x = 0;
  imu_msg.linear_acceleration.y = 0;
  imu_msg.linear_acceleration.z = 0;  
  chatter.publish(&imu_msg);
  nh.spinOnce();
  delay(1000);
}

It's also worth noting that sometimes it does:

[INFO] [xxxx] wrong checksum for topic id and msg