Fix i2c issues found (param and division by zero)

[flynneva]

Closes #55

[slgrobotics]

Tested both patches (parameter error and division by zero), everything works fine. Please merge into main as appropriate.

ros@turtle:~/bno055_ws$ ros2 run bno055 bno055 --ros-args --params-file ~/bno055_ws/src/bno055/bno055/params/bno055_params_i2c.yaml
[INFO] [1673748338.156353333] [bno055]: Initializing parameters
[INFO] [1673748338.200381907] [bno055]: Parameters set to:
[INFO] [1673748338.205242988] [bno055]: ros_topic_prefix: "bno055/"
[INFO] [1673748338.209914961] [bno055]: connection_type: "i2c"
[INFO] [1673748338.214766615] [bno055]: i2c_bus: "1"
[INFO] [1673748338.219466244] [bno055]: i2c_addr: "40"
[INFO] [1673748338.224236703] [bno055]: frame_id: "bno055"
[INFO] [1673748338.228908363] [bno055]: data_query_frequency: "100"
[INFO] [1673748338.233563150] [bno055]: calib_status_frequency: "0.1"
[INFO] [1673748338.238230852] [bno055]: operation_mode: "12"
[INFO] [1673748338.242851368] [bno055]: placement_axis_remap: "P2"
[INFO] [1673748338.247556153] [bno055]: acc_factor: "100.0"
[INFO] [1673748338.252357913] [bno055]: mag_factor: "16000000.0"
[INFO] [1673748338.257099571] [bno055]: gyr_factor: "900.0"
[INFO] [1673748338.261751597] [bno055]: set_offsets: "False"
[INFO] [1673748338.266399248] [bno055]: offset_acc: "[65516, 165, 65512]"
[INFO] [1673748338.271032629] [bno055]: radius_acc: "1000"
[INFO] [1673748338.275644812] [bno055]: offset_mag: "[65460, 65182, 637]"
[INFO] [1673748338.280419490] [bno055]: radius_mag: "0"
[INFO] [1673748338.285060318] [bno055]: offset_gyr: "[2, 65535, 65535]"
[INFO] [1673748338.289710313] [bno055]: variance_acc: "[0.017, 0.017, 0.017]"
[INFO] [1673748338.294373745] [bno055]: variance_angular_vel: "[0.04, 0.04, 0.04]"
[INFO] [1673748338.299031760] [bno055]: variance_orientation: "[0.0159, 0.0159, 0.0159]"
[INFO] [1673748338.303789199] [bno055]: variance_mag: "[0.0, 0.0, 0.0]"
[INFO] [1673748338.359351538] [bno055]: Configuring device...
[INFO] [1673748338.367375010] [bno055]: Current sensor offsets:
[INFO] [1673748338.378098439] [bno055]: Accel offsets (x y z): 17 46 65351
[INFO] [1673748338.384286089] [bno055]: Accel radius: 33256
[INFO] [1673748338.389329976] [bno055]: Mag offsets (x y z): 128 0 0
[INFO] [1673748338.394246472] [bno055]: Mag radius: 1179
[INFO] [1673748338.399010577] [bno055]: Gyro offsets (x y z): 129 1 0
[INFO] [1673748338.403622135] [bno055]: Setting device_mode to 12
[INFO] [1673748338.409124340] [bno055]: Bosch BNO055 IMU configuration complete.

[slgrobotics]

Works fine in my testing

[slgrobotics]

Works fine in my testing

[flynneva]

@slgrobotics thanks for reporting the issue and testing!