Updated the robot_state_publisher.

launch/bno055_imu_test.launch

 <?xml version="1.0" encoding="UTF-8"?>
 <launch>
 
+  <arg name="config_file" default="$(find iri_bno055_imu_bringup)/config/bno055_ndof_config.yaml" />
+  <arg name="calibration_file" default="$(find iri_bno055_imu_bringup)/calibration/bno055.cal" />
+  <!--
   <arg name="config_file" default="$(find iri_bno055_imu_bringup)/config/bno055_default_config.yaml" />
-<!--  <arg name="calibration_file" default="$(find iri_bno055_imu_bringup)/calibration/bno055.cal" />-->
   <arg name="calibration_file" default="" />
+  -->
   <arg name="node_name" default="bno055_imu"/>
   <arg name="output" default="screen" />
   <arg name="launch_prefix" default="" />
@@ -13,7 +16,7 @@
   <param name="robot_description"
          command="$(find xacro)/xacro --inorder '$(find iri_bno055_imu_description)/urdf/bno055_imu_example.xacro'" />
 
-  <node pkg="robot_state_publisher" type="state_publisher" name="bno055_tf_broadcaster">
+  <node pkg="robot_state_publisher" type="robot_state_publisher" name="bno055_tf_broadcaster">
     <param name="tf_prefix" type="string" value="/"/>
     <param name="publish_frequency" type="double" value="20.0"/>
   </node>