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[Backport iron] populate imu covariances when converting (#375) #1563

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[Backport iron] populate imu covariances when converting (#375)

[Backport iron] populate imu covariances when converting (#375) #1563

Run time

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Job Run time
ros_gz CI (ubuntu:22.04, fortress, iron)
12m 27s
ros_gz CI (ubuntu:22.04, garden, iron)
11m 2s
ros_gz CI (ubuntu:22.04, harmonic, iron)
11m 34s
35m 3s