IMU Pipeline metapackage includes tools for processing and pre-processing IMU messages for easier use by later subscribers.

imu_transformer

Transforms sensor_msgs/Imu and sensor_msgs/MagneticField messages into new coordinate frames using tf2

imu_processors

Includes misc preprocessors for IMU data:

• imu_integrator: Simple planar imu integration tool.
• imu_bias_remover: Tool to recalibrate imu bias based on /cmd_vel or /odom