Get imu data in PX4 ROS2 using micro XRCE-DDS

[ibra860]

I need to get the imu data from the FCU using XRCE-DDS agent, so I can use the LIO-SAM pkg for mapping.

I can find /fmu/out/sensor_combined but it is note pure imu data
in mavros it is by default
any thoughts?

[ramzibou0735]

you could make a node that subscribes to /sensor_combined and convert the data inside it into sensor_msgs/msg/IMU, provided LIO-SAM doesn't rely on Covariance values