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There is a small error in your CMakeLists.txt file:

## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
add_executable(imu_localisation src/my_imu.cpp)

This section is telling catkin_make to build the src/my_imu.cpp code into a node called imu_localisation, you're launch file is looking for a node called my_imu which is never being created.

If you update this line as shown below and rebuild your package this should start working.

add_executable(my_imu src/my_imu.cpp)

Hope this helps.