[quote="MattMgn, post:2, topic:3631"] It seems that linear acceleration units are mm/s. [/quote] Not quite... There was a bit more to it than that. The original OpenCR code doesn't convert from the raw values. That was fixed in [this PR](https://github.com/ROBOTIS-GIT/OpenCR/pull/45). That fix and others are present on the [features-from-openrobotics](https://github.com/ROBOTIS-GIT/OpenCR/tree/features-from-openrobotics) branch on the OpenCR repo. If you checkout those changes and flash the image, then your IMU values will be correct. --- [Visit Topic](https://discourse.ros.org/t/tb3-curious-imu-values/3631/3) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: