Thanks for the clarification
ok , I see you use "imu.orientation" to compute wheel angular position. This orientation is not a raw measurement of an IMU, its an estimate, often provided by sensor itself, using raw measurements (a_xyz and w_xyz). Using this angular position, as you said, there is no position drift due to velocity noise time integration.
But I wonder, if your accelerometers are not just exactly on the axis of rotation, additional linear accelerations will be measured by accelerometers, not related with the gravity, so the wheel orientation computations may be corrupted.
What do you think about ?
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