Getting input from external IMU

[John Soliva]

kobuki_core/kobuki_driver/src/driver/kobuki.cpp

Line 415 in e5313df

 ecl::Angle<double> Kobuki::getHeading() const 

kobuki_core/kobuki_driver/src/driver/kobuki.cpp

Line 423 in e5313df

 double Kobuki::getAngularVelocity() const 

I have an external IMU and want to publish it to ros as a replacement for the current imu on turtlebot2.
I am just wondering on how the calculations are made for these two functions or rather on "Inertial Sensor Data" from kobuki protocol specifications.

btw, i have both acceleration and gyro datas. i just need the formula for the Angle and Angle Rate.