How to integrate ROS and MPU6050 with Raspberry pi 4

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ROS packages generally accepts senor_msgs/imu messages. To fill the message, you will need:

1. Quaternion orientation: This is usually done by fusing accelerometer, gyroscope and magnetometer. For MPU6050, due to the lack of magnetometer, it is not possible to derive “absolute” orientation. However, it is still possible to derive a “relative” orientation. But without magnetometer, the problem become under constrained, which makes the math very tricky.
2. acceleration in m/s^2. When the imu sits flat on the table, it should measure +9.81 on the z axis.
3. Angular acceleration: basically the reading from gyroscope in rad/s.