Add IMU node

[Ericsii]

Proposed change(s)

Add IMU for Mini Pupper V2

Useful links (GitHub issues, forum threads, etc.)

Provide any relevant links here.

Types of change(s)

• [ ] Bug fix (non-breaking change which fixes an issue)
• [x] New feature (non-breaking change which adds functionality)
• [ ] Code refactor (non-breaking change which refactor the code)
• [ ] Breaking change (fix or feature that would cause existing functionality to not work as expected)
• [ ] Documentation update only
• [ ] Other (please describe)

Testing and Verification

ros2 launch mini_pupper_driver imu_interfce.launch.py

Test Configuration

Mini Pupper Version
Mini Pupper 2

Raspberry Pi OS + ROS version
Ubuntu 22.04, ROS 2 Humble

PC OS + ROS version
Ubuntu 22.04, ROS 2 Humble

Checklist

• [x] I have read the CONTRIBUTING guidelines.
• [x] I have checked to ensure there aren't other open Pull Requests for the same change.

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