IMU Node

This node manages IMU sensors and publishes orientation, angular velocity, and linear acceleration data.

Controller Selection

The node uses a factory pattern to create the appropriate controller based on configuration:

• mock: Simulated IMU for testing/development (default)
• mpu6050: MPU6050 6-DOF IMU (requires mpu6050 feature)

Example Configuration

{
  "controller": {
    "type": "mock",
    "has_magnetometer": false
  },
  "update_rate_hz": 100.0
}

Topics

• Publishes: /imu/data (ImuData) - IMU sensor data