Test the new IMU topic on the vehicle

[icyflame]

Check topicHeader.cpp for SENSOR_IMU_NEW.

[athityakumar]

Also, we need to check if the covariance matrices in https://github.com/auviitkgp/kraken_3.0/blob/indigo-devel/Scripts/launch/yaml/covariance.yaml file are zero-matrices or not.