Added the operational mode in the configuration file.

Set the calibration file to empty to avoid calibrating the sensor.

config/bno055_default_config.yaml

@@ -2,3 +2,4 @@ update_rate: 1
 serial_device: '/dev/ttyUSB1'
 tf_prefix: '/'
 frame_id: 'imu'
+mode: 12

launch/bno055_imu_test.launch

@@ -2,12 +2,13 @@
 <launch>
 
   <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="$(find iri_bno055_imu_bringup)/calibration/bno055.cal" />-->
+  <arg name="calibration_file" default="" />
   <arg name="node_name" default="bno055_imu"/>
-  <arg name="output" default="log" />
+  <arg name="output" default="screen" />
   <arg name="launch_prefix" default="" />
 
-  <remap from="/imu" to="/imu_data"/>
+  <remap from="/$(arg node_name)/imu" to="/$(arg node_name)/imu_data"/>
 
   <param name="robot_description"
          command="$(find xacro)/xacro --inorder '$(find iri_bno055_imu_description)/urdf/bno055_imu_example.xacro'" />