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The message type seems to be different.

Perhaps the following will solve the problem?

void imuOrientation( const sensor_msgs::Imu& imu_msgs){

   imu_quaternion[0]=imu_msgs.orientation.x;
   imu_quaternion[1]=imu_msgs.orientation.y;
   imu_quaternion[2]=imu_msgs.orientation.z;
   imu_quaternion[3]=imu_msgs.orientation.w;


}

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