publish IMU data into topic from CSV file

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Hi all;

First of all, thank you so much for this great ROS community that helps us to solve our issues!

I have csv file of recorded data of IMU (linear accelerations and quaternions -- 7 columns and n rows). I want to read the CSV file separately and create two publisher : one publisher for linear acceleration (publish acc_x, acc_y and acc_z) and another publisher for quaternion (publish Q0, Q1, Q2 and Q3).

I am beginner of ROS and C++, can you have one example who like like what I have explained. I appreciate your help and if you have a sample of an example of code ROS cpp that handles this kind of problematic , I will be very happy :) .

Thank you my family and have great day