MPU6050 with CHAMP: Is Quaternion Necessary for IMU Data?

[jstut0011]

Hi, I’m looking to connect an MPU6050 to the CHAMP package and I have a question: will I be able to use it to provide data for the geometry_msgs/Quaternion message? As far as I know, the MPU6050 provides raw accelerometer and gyroscope data, so I’m wondering if that’s enough to generate quaternions.

Also, are all variables in the IMU message structure (like linear_acceleration, angular_velocity, orientation_covariance, etc.) Do I need to provide all the data from this structure? I’m asking in relation to point 4 from this link: https://github.com/chvmp/champ/wiki/Hardware-Integration