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IMU data to be used with robot_localization

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I am using the package [robot_localization](http://wiki.ros.org/robot_localization) with an IMU. In the docs, the [Preparing Your Data for Use with robot_localization](http://docs.ros.org/kinetic/api/robot_localization/html/preparing_sensor_data.html#imu), it says > **Adherence to specifications:** As with odometry, be sure your data adheres to REP-103 and the sensor_msgs/Imu specification. Double-check the signs of your data, and make sure the frame_id values are correct. REP-103 says the axes should be oriented in the following fashion: - x forward - y left - z up Which means when an IMU is placed in its neutral position (flat on the surface), the axes should look like this: So for acceleration due to gravity, it should measure - (minus) 9.8 meters per second squared for the Z axis. However the docs say: > **Acceleration**: Be careful with acceleration data. The state estimation nodes in robot_localization assume that an IMU that is placed in its neutral right-side-up position on a flat surface will: >- Measure +9.81 meters per second squared for the Z axis. >- If the sensor is rolled +90 degrees (left side up), the acceleration should be +9.81 meters per second squared for the Y axis. >- If the sensor is pitched +90 degrees (front side down), it should read -9.81 meters per second squared for the X axis. This would mean the axes are oriented in the following manner, implying left handed coordinate system: I am definitely missing something here. Can anyone help?

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