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This is not literally an answer to my question, but I think it is relevant enough to post it as an answer: there is a proposal to replace the imu_msg with something that divides more cleanly between the orientation and the IMU measurements: https://groups.google.com/forum/#!msg/ros-sig-drivers/2NvgNBOjcFQ/LfG6fhFbIBwJ

In this proposal, the IMU estimates are also subdivided into accelerometer and gyroscope information.

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