Implements ROS2 IMU gyro + accel calibration node with:
- Service-triggered calibration via /saltybot/calibrate_imu
- Optional auto-calibration on startup (configurable)
- Collects N stationary samples (default 100)
- Computes mean bias offsets for gyro and accel
- Publishes bias-corrected IMU on /imu/calibrated
- Includes 10+ unit tests for calibration logic
Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
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