[ros-users] [Discourse.ros.org] [TurtleBot] [TB3] Curious IM…

[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.





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