Publish sensor_msgs/Imu using pyrealsense2 with T265.

[Mikor-mkr]

Hi people,

I am interested in creating a broadcasting script that publishes a ros IMU topic with sensor_msgs/Imu. As I understand if create a topic pulling motion data from T265 using the pyrealsense2 and set the parts of the topic as following: the linear_acceleration of the IMU topic is set as the data taken from the accelerometer and the angular_velocity is set from the data taken from the gyroscope then I am using the preprocessed data that the Vision Processing Unit of the T265 uses.

My question is: can I take a sensor_msgs/Imu with linear_acceleration and angular_velocity as an output taken by the Vision Processing Unit, if yes then how, if no then is the output of the VPU of the T265 strictly the pose data ?