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For the pose I'd probably prefer TF and/or just sending geometry_msgs/PoseStamped. For the IMU data, there is sensor_msgs/Imu that you can just send normally. There seems to be a FluidPressure message in sensor_msgs, too.

TF sending should imo be optional and configurable, i.e., TF is only sent when enabled, parent/child frames should be parameters, and ideally one can switch between sending the pose or inverse pose.

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