Feature Request: imu offset compensation service

[john-maidbot]

I find that the imu in my orbbec sensor is accurate but often has an initial offset in angular velocity and linear acceleration that needs to be corrected. I see this behavior on both femto and gemini-335 (but they have different offsets)

i see that you already correct for bias accumulation in the ros2 wrapper, but it would be nice to also have an option to correct for this initial offset (eg place sensor on level surface and call a ros2 service. Thats what i am doing on my end atm, but it would be nice if this was in the orbbec node. Plus i figure others would benefit from this too). Have you considered adding such a feature? Or does this offset perhaps suggest something is wrong with the createIMUInfo()?

thank you for your time