gravity missing from /bno055/imu topic

[flabrosse]

Hi,

And thank you for maintaining this driver!

According to this, the acceleration fields should show gravity for the robot localisation package. The topic /bno055/imu shows accelerations that are zeroed (with gravity removed). The topic /bno055/imu_raw does show the correct acceleration (for localisation) but does not give an orientation, only the raw data.

Could there be another topic or an option that makes the driver publish the full acceleration along with the orientation?

Cheers

[github-actions]

Thank you for creating your first issue on this repo! Give me some time to review and respond to your problem.

[flabrosse]

I created PR #78 to add this.