Hello ros-users,
Thanks to some lively discussion with other interested developers, I've drafted REP-145, which lays out standard parameters, topics, and data representations for IMU data. I hope that as the ROS world grows, this REP can be used as a guideline for new driver implementations for IMU sensors. In many ways, this is REP is codifying standards that already exist across several existing drivers, as well as promoting the existing `sensor_msgs/Imu` and `sensor_msgs/MagneticField` message format. The REP also contains some salient points about IMU coordinate frame conventions and transformations.
Thanks,
Paul