sensor_message_imu_extract.m

function [bag_data] = sensor_message_imu_extract(filename, initialTime)
    fid = fopen(filename);
    formatString = strcat('%n%n%n',...
        repmat('%n',1,14),...
        '%n%n%n',...
        repmat('%n',1,9),...
        '%n%n%n',...
        repmat('%n',1,9));
    C = textscan(fid, ...
    formatString,...
    'delimiter',',', ...
    'headerLines', 1);
    fclose(fid);

    bag_data = struct(...
    'angular_velocity', [C{18}, C{19}, C{20}]', ...
    'time', C{3} *10^-9  - initialTime, ...
    'linear_acceleration', [C{30}, C{31}, C{32}]');
end