IMU Replacement

[lazy-whatever]

Description:

• The IMU Phidget is broken. Need to swap to MPU6050 to test auto navMPU6050

Goals:

• Successful swap of IMU

Acceptance Criteria:

• MPU6050 configured and publishes acceptable message to be integrated into the system.

Notes:

• Work based off of https://github.com/apojomovsky/mpu6050-dmp-ros-raspberry