IMU

<launch>
    <!-- parameters -->
    <arg name="device" default="auto" doc="device file of the IMU"/>
    <arg name="baudrate" default="0" doc="baudrate of the IMU"/>
    <arg name="timeout" default="0.002" doc="timeout for the IMU communication"/>
    <arg name="initial_wait" default="0.1" doc="initial wait to allow device to come up"/>
    <arg name="frame_id" default="/imu" doc="frame id of the IMU"/>
    <arg name="frame_local" default="ENU" doc="desired frame orientation (ENU, NED or NWU)"/>
    <arg name="no_rotation_duration" default="0" doc="duration (int in seconds) of the no-rotation calibration procedure"/>
    <arg name="angular_velocity_covariance_diagonal" default="[0.0004, 0.0004, 0.0004]" doc="Diagonal elements of angular velocity covariance matrix"/>
    <arg name="linear_acceleration_covariance_diagonal" default="[0.0004, 0.0004, 0.0004]" doc="Diagonal elements of linear acceleration covariance matrix"/>
    <arg name="orientation_covariance_diagonal" default="[0.01745, 0.01745, 0.15708]" doc="Diagonal elements of the orientation covariance matrix"/>

    <!-- node -->
    <node pkg="xsens_driver" type="mtnode.py" name="xsens_driver" output="screen" >
        <param name="device" value="$(arg device)"/>
        <param name="baudrate" value="$(arg baudrate)"/>
        <param name="timeout" value="$(arg timeout)"/>
        <param name="initial_wait" value="$(arg initial_wait)"/>
        <param name="frame_id" value="$(arg frame_id)"/>
        <param name="frame_local" value="$(arg frame_local)"/>
        <param name="no_rotation_duration" value="$(arg no_rotation_duration)"/>
        <rosparam param="angular_velocity_covariance_diagonal" subst_value="True">$(arg angular_velocity_covariance_diagonal)</rosparam>
        <rosparam param="linear_acceleration_covariance_diagonal" subst_value="True">$(arg linear_acceleration_covariance_diagonal)</rosparam>
        <rosparam param="orientation_covariance_diagonal" subst_value="True">$(arg orientation_covariance_diagonal)</rosparam>
    </node>
</launch>