分别记录下每个对应的信息：
1.
rostopic echo /diagnosticsheader: seq: 454 stamp: secs: 1572609754 nsecs: 307622909 frame_id: "/imu" status: - level: 0 name: "mtnode: Self Test" message: "Ok" hardware_id: '' values: [] - level: 0 name: "mtnode: XKF Valid" message: "Valid" hardware_id: '' values: [] - level: 1 name: "mtnode: GPS Fix" message: "No fix" hardware_id: '' values: [] ---
2.
rostopic echo /imu/data --- header: seq: 815 stamp: secs: 1572609827 nsecs: 401124954 frame_id: "/imu" orientation: x: -0.0231899413224 y: -0.00618311236067 z: -0.812569183978 w: 0.58237042936 orientation_covariance: [0.01745, 0.0, 0.0, 0.0, 0.01745, 0.0, 0.0, 0.0, 0.15708] angular_velocity: x: 0.00013071297041 y: -0.0014728007945 z: -0.00236651273172 angular_velocity_covariance: [0.0004, 0.0, 0.0, 0.0, 0.0004, 0.0, 0.0, 0.0, 0.0004] linear_acceleration: x: 0.001121327281 y: -0.000450849533081 z: 0.0244325846434 linear_acceleration_covariance: [0.0004, 0.0, 0.0, 0.0, 0.0004, 0.0, 0.0, 0.0, 0.0004] ---3.
rostopic echo /imu/mag --- header: seq: 173 stamp: secs: 1572609955 nsecs: 532613039 frame_id: "/imu" magnetic_field: x: -0.241854965687 y: 0.462810277939 z: -1.06735813618 magnetic_field_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] --- ^Cheader: seq: 174 stamp: secs: 1572609955 nsecs: 542536020 frame_id: "/imu" magnetic_field: x: -0.241468593478 y: 0.462321728468 z: -1.06932878494 magnetic_field_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] ---4.
rostopic echo /imu_data_str --- data: "{'Acceleration': {'frame': 'ENU', 'Delta v.z': 0.024481937289237976, 'Delta v.y':\ \ -0.0004442930221557617, 'Delta v.x': 0.0011044144630432129}, 'Timestamp': {'PacketCounter':\ \ 45333, 'SampleTimeFine': 118492361}, 'Orientation Data': {'Yaw': 129.50442504882812,\ \ 'Pitch': -2.6895384788513184, 'frame': 'ENU', 'Roll': -1.170444369316101}, 'Angular\ \ Velocity': {'Delta q1': 3.160908818244934e-06, 'Delta q0': 1.0000001192092896,\ \ 'frame': 'ENU', 'Delta q2': -6.094574928283691e-06, 'Delta q3': -4.8782676458358765e-06},\ \ 'Status': {'StatusWord': 3}}" ---5.
rostopic echo /raw_fix --- header: seq: 8 stamp: secs: 1572610119 nsecs: 259144067 frame_id: "/imu" status: status: -1 service: 0 latitude: -19.8826939 longitude: 96.4290025 altitude: 2455.161 position_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0] position_covariance_type: 0 ---5.
rostopic echo /time_reference --- header: seq: 346 stamp: secs: 1572610245 nsecs: 525434970 frame_id: "/imu" time_ref: secs: 11482 nsecs: 123600000 source: "sample time fine" ---6.
rostopic echo /velocity --- header: seq: 316 stamp: secs: 1572610308 nsecs: 412065982 frame_id: "/imu" twist: linear: x: 0.0 y: 0.0 z: 0.0 angular: x: 0.00530014968613 y: -0.00199427828188 z: -0.00384216010561 ---
