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There was some discussion about this on the mailing list. Tha API is a little unclear about this at the moment, but this seemed to be the consensus:

For an Imu message with frame_id = X:

• the acceleration and velocities are measured in the frame X
• the orientation is between a fixed inertial frame and X

Typically, X would be something like imu or imu_link.

The "fixed inertial frame" is implicitly assumed to be oriented in the same way as odom, map, or whatever top-level other fixed frame your application uses.