read_zmq.py

import struct

import zmq

context = zmq.Context()
socket = context.socket(zmq.SUB)
# IMU uses 5556, point cloud uses 5555
socket.connect("tcp://192.168.1.249:5556")
socket.setsockopt(zmq.SUBSCRIBE, b"")

while True:
    data = socket.recv()

    # Parse IMU data
    seq, stamp_sec, stamp_nsec = struct.unpack('<III', data[0:12])
    quat = struct.unpack('<ffff', data[12:28])
    ang_vel = struct.unpack('<fff', data[28:40])
    lin_acc = struct.unpack('<fff', data[40:52])

    print(f"IMU seq {seq}: quat={quat}, ang_vel={ang_vel}, lin_acc={lin_acc}")