Fix launch files for C++ lifecycle node, add I2C launch variant

[Copilot]

Sensor data quality improvements (Boardoza reference comparison)

Compared the Boardoza BNO055 driver with this repo's C++ implementation. Found several deficiencies affecting data quality.

Calibration offset writing was a no-op

The most critical issue: set_offsets: true logged "Setting calibration offsets" but never actually wrote to registers 0x55–0x6A. Now writes all 9 offsets + 2 radius values:

// Before: offsets declared but never written
if (config_.set_offsets) {
  RCLCPP_INFO(..., "Setting calibration offsets");
  // ... nothing written ...
  set_mode(config_.operation_mode);
}

// After: offsets written to sensor registers
if (config_.set_offsets) {
  write_offset(ACCEL_OFFSET_X_LSB_ADDR, config_.offset_acc[0]);
  write_offset(ACCEL_OFFSET_Y_LSB_ADDR, config_.offset_acc[1]);
  // ... all 9 offsets + 2 radius values ...
}

Other sensor quality fixes

• Mode transition delays — set_mode() had no delay; BNO055 datasheet requires ~19ms, Boardoza uses 25–50ms. Added 30ms.
• Sensor reset on configure — Issue SYS_TRIGGER=0x20 before configuration for clean state
• Self-test verification — Check SELFTEST_RESULT register with per-sensor (ACC/MAG/GYR/MCU) reporting
• Euler angles topic — Buffer indices 18–23 were already read but discarded; now published on bno055/euler
• is_fully_calibrated() per operation mode — Calibration status now includes fully_calibrated field, checking only sensors relevant to current mode (e.g. IMUPLUS → accel+gyro only)
• Named constants — SELFTEST_ALL_PASSED, CALIBRATION_FULLY_CALIBRATED replace magic numbers

Launch file fixes

bno055.launch.py referenced executable='bno055' (the Python entry point) but the build is ament_cmake — only bno055_lifecycle_node gets built. The old launch file was non-functional.

• Fix bno055.launch.py — Use LifecycleNode(executable='bno055_lifecycle_node') with auto configure→activate
• Add bno055_i2c.launch.py — I2C variant using bno055_params_i2c.yaml (config existed, launch didn't)
• Update READMEs — Document all launch options

# UART (default)
ros2 launch bno055 bno055.launch.py

# I2C
ros2 launch bno055 bno055_i2c.launch.py

# Manual lifecycle control
ros2 launch bno055 bno055_lifecycle.launch.py

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[ROSSARP]

not tested