+ <param name="frame_id" value="base_imu_link"/>
+ <param name="period_ms" value="20"/>
+ <!-- Observed orientation variance: 0.0 (10k samples)
+ Magnometer heading accuracy is +-2.5 deg => 0.088 rad
+ With heading accuracy as std dev, variance = 0.088^2 = 0.008 -->
+ <param name="variance_orientation" value="0.008"/>
+ <remap from="/tinkerforge_imu_brick2/imu" to="imu"/>