Congrats for the release! And thanks a lot for caring about ROS 1 
As you鈥檙e now probably very knowledgeable about IMUs, could I ask you to have a look at the prepared REP for changing IMU messages? It has already been discussed for years and now it鈥檚 hopefully close to being finalized. Update Rep 145 (P II) by SteveMacenski 路 Pull Request #372 路 ros-infrastructure/rep 路 GitHub . I think a fresh look would definitely help it.