如何使用Python中的IMU反馈将Turtlebot3旋转90度?

我想利用IMU传感器的反馈将turtlebot3左转90度,有可能吗

我已经使用Twist消息本身完成了90度转弯,但我想确认我们的turtlebot3使用IMU数据完成了90°转弯

#!/usr/bin/env python
import rospy
from nav_msgs.msg import Odometry
from tf.transformations import euler_from_quaternion, quaternion_from_euler
from geometry_msgs.msg import Twist
import math

roll = pitch = yaw = 0.0
target = 90
kp=0.5

def get_rotation (msg):
    global roll, pitch, yaw
    orientation_q = msg.pose.pose.orientation
    orientation_list = [orientation_q.x, orientation_q.y, orientation_q.z, orientation_q.w]
    (roll, pitch, yaw) = euler_from_quaternion (orientation_list)
    print yaw

rospy.init_node('rotate_robot')

sub = rospy.Subscriber ('/odom', Odometry, get_rotation)
pub = rospy.Publisher('cmd_vel', Twist, queue_size=1)
r = rospy.Rate(10)
command =Twist()

while not rospy.is_shutdown():
    #quat = quaternion_from_euler (roll, pitch,yaw)
    #print quat
    target_rad = target*math.pi/180
    command.angular.z = kp * (target_rad-yaw)
    pub.publish(command)
    print("taeget={} current:{}", target,yaw)
    r.sleep()

以上是我使用里程计得到的参考,很好,但我需要用IMU反馈来检查机器人是否准确旋转了90度

这只是一个使用里程计的参考代码