ros2 IMU calibration

[M2-TE]

For the feature/ros2 branch, the default dlio config for baselink2imu

direct_lidar_inertial_odometry/cfg/dlio.yaml

Lines 30 to 33 in cc8f6d5

	extrinsics/baselink2imu/t: [ 0., 0., 0. ]
	extrinsics/baselink2imu/R: [ -1., 0., 0.,
	0., 1., 0.,
	0., 0., -1. ]

seems to differ from the main branch

direct_lidar_inertial_odometry/cfg/dlio.yaml

Lines 34 to 39 in fc8d183

	extrinsics:
	baselink2imu:
	t: [ 0.006253, -0.011775, 0.007645 ]
	R: [ 1., 0., 0.,
	0., 1., 0.,
	0., 0., 1. ]

shouldn't these two be brought in line? I've tested the ros2 branch with an ouster scanner, where the accel bias on z was constantly at -5, similar to #71, which results in large drift.

It also seems like imu/calibration: true is not respected, since there is no calibration step when compared to the main branch

direct_lidar_inertial_odometry/cfg/dlio.yaml

Line 23 in cc8f6d5

imu/calibration: true