ROS1 Noetic support with updated driver

[VineetTambe]

Hey,

I have ported the updates for the vesc driver - specific to IMU from ROS2 branch to support a ROS1 noetic.
I have tested it on the following VESC EDU board
Additionally, I have also added the imu_filter_madgwick ROS1 package as a dependency to filter the data.

Should I raise a pull request for it?

[JWhitleyWork]

This would be much appreciated! Please make the PR against the main branch.

[VineetTambe]

Have created a PR. Please let me know if there needs to be any updates.