ROS IMU 数据发布

1，参照 http://wiki.ros.org/rviz_imu_plugin 安装rviz_imu_plugin,有助于调试查看。

https://github.com/ccny-ros-pkg/imu_tools

参照Readme编译安装：

source /opt/ros/kinetic/setup.bash

mkdir ws/src -p; cd ws/src

git clone -b <distro> https://github.com/ccny-ros-pkg/imu_tools.git

catkin_init_workspace    //该命令会产生CMakeLists.txt -> /opt/ros/kinetic/share/catkin/cmake/toplevel.cmake 连接文件。

rosdep install imu_tools

cd ..

catkin_make

catkin_make install -DCMAKE_INSTALL_PREFIX=/opt/ros/kinetic

2，广播imu数据。

void RobotRos::publishInertia()
{
  if (ros::ok())
  {
    if (imu_data_publisher.getNumSubscribers() > 0)