#include "rclcpp/rclcpp.hpp"
#include "sensor_msgs/msg/imu.hpp"

class IMUSubscriber : public rclcpp::Node
{
public:
    IMUSubscriber() : Node("imu_sub")
    {
        subscription_ = this->create_subscription<sensor_msgs::msg::Imu>(
            "/imu",
            10,
            std::bind(&IMUSubscriber::imu_callback, this, std::placeholders::_1)
        );
    }

private:
    void imu_callback(const sensor_msgs::msg::Imu::SharedPtr msg)
    {
        RCLCPP_INFO(this->get_logger(), "Angular velocity around z: %.3f rad/s", msg->angular_velocity.z);
    }

    rclcpp::Subscription<sensor_msgs::msg::Imu>::SharedPtr subscription_;
};

int main(int argc, char *argv[])
{
    rclcpp::init(argc, argv);
    rclcpp::spin(std::make_shared<IMUSubscriber>());
    rclcpp::shutdown();
    return 0;
}