This issue suggests to modify workflows as follows:

• Remove build-debian-nightly.yml and build-debian-stable.yml since Debian build is no longer in use for this project.
• Merge build-and-test-nightly.yml and build-and-test-stable.yml into a single ci.yaml workflow file.
• Use the latest version of ROS 2 Workspace Action in the CI workflow.

Making a base class that has functionality as the method in which the inertial value is got. This class will be a member of the inertial_manager class (ROS2 node). Measurement Unit has two types of the derived class, both are sensor and filter. We have to choose one of that types (polymorphism) when initializing the inertial_manager class. If the sensor class is chosen, the node will just publish the inertial value from that class. Otherwise, the node will subscribe to the gyroscope and the accelerometer value which will be calculated, then publish the result as the inertial value through the node.