Added all the configuration parameters to the YAML file.

config/bno055_default_config.yaml

-update_rate: 1
+update_rate: 100
 serial_device: '/dev/ttyUSB1'
 tf_prefix: '/'
 frame_id: 'imu'
-mode: 12
+# 1 -> "Only enable the accelerometer"
+# 2 -> "Only enable the magnetometer"
+# 3 -> "Only enable the gyroscope"
+# 4 -> "Enable both accelerometer and magnetometer"
+# 5 -> "Enable both accelerometer and gyroscope"
+# 6 -> "Enable both magnetometer and gyroscope"
+# 7 -> "Enable all sensors"
+# 8 -> "IMU"
+# 9 -> "Compass"
+# 10 -> "M4G"
+# 11 -> "ndof off"
+# 12 -> "ndof"
+mode: 7
+# 0 -> "+/- 2G"
+# 1 -> "+/- 4G"
+# 2 -> "+/- 8G"
+# 3 -> "+/- 16G"
+accel_range: 1
+# 0 -> "7.81Hz"
+# 4 -> "15.63Hz"
+# 8 -> "32.25H"
+# 12 -> "62.5Hz"
+# 16 -> "125Hz"
+# 20 -> "250Hz"
+# 24 -> "500Hz"
+# 28 -> "1000Hz"
+accel_bandwidth: 12
+# 0 -> "Normal"
+# 32 -> "Suspend"
+# 64 -> "Low power 1"
+# 96 -> "Stand by"
+# 128 -> "Low power 2"
+# 160 -> "Seep suspend"
+accel_pwr_mode: 0
+# 0 -> "+/- 2000 dps"
+# 1 -> "+/- 1000 dps"
+# 2 -> "+/- 500 dps"
+# 3 -> "+/- 250 dps"
+# 4 -> "+/- 125 dps"
+gyro_range: 0
+# 0 -> "523Hz"
+# 8 -> "230Hz"
+# 16 -> "116Hz"
+# 24 -> "47Hz"
+# 32 -> "23Hz"
+# 40 -> "12Hz"
+# 48 -> "64Hz"
+# 56 -> "32Hz"
+gyro_bandwidth: 56
+# 0 -> "Normal"
+# 1 -> "Fast power up"
+# 2 -> "Deep suspend"
+# 3 -> "Suspend"
+# 4 -> "Advanced power save"
+gyro_pwr_mode: 0
+# 0 -> "2 Hz"
+# 1 -> "6 Hz"
+# 2 -> "8 Hz"
+# 3 -> "10 Hz"
+# 4 -> "15 Hz"
+# 5 -> "20 Hz"
+# 6 -> "25 Hz"
+# 7 -> "30 Hz"
+mag_rate: 3
+# 0 -> "Low power"
+# 8 -> "Regular"
+# 16 -> "Enhanced regular"
+# 24 -> "High accuracy"
+mag_op_mode: 1
+# 0 -> "Normal"
+# 32 -> "Sleep"
+# 64 -> "Suspend"
+# 96 -> "Force mode"
+mag_pwr_mode: 0