Imu output enabled

[wltry]

Changes Made

Added IMU output to sonar_node/imu topic.
Also added a launch file for running imu_filter_madgwick to get pose estimate out of the raw imu data.

Modified the pointcloud/image publishers so that timestamp from the RIP package header is used, to keep in sync with the IMU message timestamps.

Testing

colcon build && source install/setup.bash
ros2 launch waterlinked_sonar_3d15 sonar_imu_orient.launch.py

[Copilot]

Pull request overview

Adds timestamp-synchronized raw IMU publishing and an optional Madgwick orientation pipeline.

Changes:

• Publishes RIP IMU batches as ROS sensor_msgs/Imu.
• Uses RIP timestamps for sonar outputs.
• Adds Madgwick filter launch and configuration files.

Reviewed changes

Copilot reviewed 6 out of 6 changed files in this pull request and generated 4 comments.

Show a summary per file

File	Description
waterlinked_sonar_3d15/sonar_node.py	Adds IMU control, publishing, timestamps, and diagnostics.
README.md	Documents IMU support and topic.
launch/sonar_imu_orient.launch.py	Launches the sonar and Madgwick filter.
config/pinchy_params.yaml	Configures the IMU topic.
config/imu_filter_params.yaml	Defines Madgwick filter settings.
config/default_params.yaml	Configures the default IMU topic.

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