File content as of revision 1:1e40c57efbb1:

#include "mbed.h"
#include "BNO055.h"
#include <ros.h>
#include <std_msgs/Float64.h>

Serial pc(USBTX, USBRX);
BNO055 imu(I2C_SDA,I2C_SCL);
DigitalOut led(LED1);

ros::NodeHandle nh;

std_msgs::Float64 E_roll;
ros::Publisher pub_roll("Euler roll", &E_roll);

int main() {
    pc.baud(115200);
    nh.initNode();
    nh.advertise(pub_roll);
    //pc.printf("BNO055 Hello World++\r\n\r\n");
    led = 1;
    // Reset the BNO055
    imu.reset();
    // Check that the BNO055 is connected and flash LED if not
    if (!imu.check())
        while (true){
            led = !led;
            wait(0.1);
        }
    // Display sensor information
    /*pc.printf("BNO055 found\r\n\r\n");
    pc.printf("Chip          ID: %u\r\n",imu.ID.id);
    pc.printf("Accelerometer ID: %u\r\n",imu.ID.accel);
    pc.printf("Gyroscope     ID: %u\r\n",imu.ID.gyro);
    pc.printf("Magnetometer  ID: %u\r\n\r\n",imu.ID.mag);
    pc.printf("Firmware version v%d.%0d\r\n",imu.ID.sw[0],imu.ID.sw[1]);
    pc.printf("Bootloader version v%d\r\n\r\n",imu.ID.bootload);
    // Display chip serial number
    for (int i = 0; i<4; i++){
        pc.printf("%u.%u.%u.%u\r\n",imu.ID.serial[i*4],imu.ID.serial[i*4+1],imu.ID.serial[i*4+2],imu.ID.serial[i*4+3]);
    }
    pc.printf("\r\n");*/

    while (true) {     
        imu.setmode(OPERATION_MODE_NDOF);
        imu.get_calib();
        imu.get_angles();
        imu.get_temp();
        imu.get_quat();
        
        float roll_angle;
        roll_angle = imu.euler.roll;        
        E_roll.data = roll_angle;
        pub_roll.publish(&E_roll);
        pc.printf("Temperature\t%d\n", imu.temperature);
        //pc.printf("Quaternion: w:%f\tx:%f\ty:%f\tz:%f\n", imu.quat.w, imu.quat.x, imu.quat.y, imu.quat.z);
        pc.printf("%u\t roll:%5.1f\t pitch:%5.1f\t yaw:%5.1f\r\n",imu.calib,imu.euler.roll,imu.euler.pitch,imu.euler.yaw);
        nh.spinOnce();
        wait(0.5);
    }
    nh.spinOnce();
}