Fix IMU bugs

[mbr4477]

The BNO055 needs to be calibrated and the calibration state saved so it can be loaded when the ROS node starts. We've also had some issues getting the IMU to consistently initialize.

Two options:

• Calibrate the BNO055 using the Python library in a separate script.
• @ruffner said he might have a serial module we could plug and play use that he's worked with before. May be a good option to play to previous experience in the interest of time.

[ruffner]

I will get this serial module calibrated and outputting heading in some readable format and report back.

…

On Mon, Mar 2, 2020 at 9:12 AM Matthew Russell ***@***.***> wrote: The BNO055 needs to be calibrated and the calibration state saved so it can be loaded when the ROS node starts. We've also had some issues getting the IMU to consistently initialize. Two options: - Calibrate the BNO055 using the Python library in a separate script. - @ruffner <https://github.com/ruffner> said he might have a serial module we could plug and play use that he's worked with before. May be a good option to play to previous experience in the interest of time. — You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub <#12?email_source=notifications&email_token=AAKB7DLMZD5BYLKTHUHWK4DRFO5ETA5CNFSM4K7VEFLKYY3PNVWWK3TUL52HS4DFUVEXG43VMWVGG33NNVSW45C7NFSM4IRWSH6A>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AAKB7DMVUNWFZZJMSZZCZPTRFO5ETANCNFSM4K7VEFLA> .

[mbr4477]

Sounds good. For reference, the current IMU node is publishing a quat