Change the IMU message type to Sensor_msgs/Imu

[icyflame]

• Will standardize the message type for IMU messages that we are using.
• Will help out a lot when using standard ROS packages / plugins (such as ros-control-center referred to here)

  Migration Procedure

• We edit the sparton package.
• We publish the new message type on a second IMU topic (/kraken/sensor/imu_2) (First pull request)
• We start editing the modules using IMU data. (One pull request per module)
• We can slowly phase out the old topic once we are sure no other packages depend on it.

@prudhvid @nevinvalsaraj Opinions on the above procedure?

cc @auviitkgp/developers

[nevalsar]

Rather than making a second IMU topic with the desired data format, I'd say replace the original. We have way too many original topic + converter package + modified topic clusters written as it is. Seems like a waste of transport and processing power.

[icyflame]

@nevinvalsaraj I am afraid that completely replacing the old topic will cause unnecessary issues with old packages. And we should rather go for this kind of a migration procedure, with a pre-set date for the removal of the old topic entirely. (say 1 month from now, leading to around 4-5 pool testing days)

[nevalsar]

@icyflame That's fine. We can phase out the old topic, but my point being that this needs to be done rather than keeping both of them side-by-side. :+1:

[icyflame]

Yes, @nevinvalsaraj . Actually, this also needs to be done for some older packages. Me and @prudhvid had decided that we would move all such packages into an obsolete/ folder. (Such as nqDvl CPP package, trax IMU, etc).