Publish IMU data

[Oluwatoni]

We have an imu write a function to read from it and publish the data at a set interval. Also calibrate the sensor if needed and mount it on the robots frame.

Acceptability Criteria
Inputs

• I2C communication with the IMU module

Output

• IMU ros message the contains the fused orientation (including the magnetometer if it doesn't mess up the readings)
• run the sensor while it is idle and record the standard deviation of the readings

[Oluwatoni]

reading from the imu and publishing that data causes problems in the arduino code

[Oluwatoni]

We should investigate this or get a better IMU