def METHOD_NAME(self, dai_msg):
    dai_msg: dai.IMUData
    for packet in dai_msg.packets:
        msg = METHOD_NAME(
            orientation=Quaternion(x=0.0, y=0.0, z=0.0, w=1.0),
            orientation_covariance=np.array([-1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]),
            angular_velocity=Vector3(x=0.0, y=0.0, z=0.0),
            angular_velocity_covariance=np.zeros(9),
            linear_acceleration=Vector3(x=0.0,y=0.0, z=0.0),
            linear_acceleration_covariance=np.zeros(9)
        )
        report = packet.acceleroMeter or packet.gyroscope or packet.magneticField or packet.rotationVector
        self.set_header(msg, report)
        self.imu_interpolation.METHOD_NAME(msg, packet)
        # TODO: publish from here directly, so single IMUData can result in more Imu packets?
        return msg