Set covariance for filtered IMU message. #104
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In the current implementation, the IMU message published on ekf/imu/data sets the covariance for both angular_velocity and linear_acceleration to zero, which makes it difficult to use these fields without additional post-processing.
This PR updates the message to populate the covariance matrices using the existing parameters imu_linear_cov and imu_angular_cov.
I have one question regarding this change:
Does the internal filter provide any covariance estimation for these values? If so, I can integrate it directly. Otherwise, would it make sense to introduce dedicated parameters for these covariances?