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If you really need to take that information from the navdata topic instead of the IMU you could redefine the navdata message so you can publish that information to the topic. The angular velocity is set in the same function (void ARDroneDriver::PublishNavdata(const navdata_unpacked_t &navdata_raw, const ros::Time &navdata_receive_time) as the rest of the information but then published in different topics.

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