Today we added a CHR UM6-LT IMU to the omni bot communications is through a sparkfun FTDI board
the first problem we encountered was the RX and TX line need to be reversed. The other problem was
quanterions need to be enabled which can only be done in windows.
After downloading the ROS package imu_um6 (searching ROS under sensors not IMU) and
launching we were publishing data from the IMU. Next step is to add a covariance matrix and run robot pose EKF