text: #!/usr/bin/env python
  
  import rospy
  from geometry_msgs.msg import PoseStamped
  from sensor_msgs.msg import Imu
  
  def imu_callback(imu_msg):
      ps_msg = PoseStamped()
      ps_msg.header=imu_msg.header
      ps_msg.pose.orientation=imu_msg.orientation
      posestamped_pub.publish(ps_msg)
  
  
  if __name__ == "__main__":
      rospy.init_node("imu_to_pose")
      #Publisher
      posestamped_pub = rospy.Publisher("imu_pose", PoseStamped, queue_size=10)
      #Subscriber
      rospy.Subscriber("imu", Imu, imu_callback)
  
      rospy.spin()
  