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The TurtleBot publishes two IMU data streams, imu/data and imu/raw. Where the raw one is unfiltered and the imu/data is bias compensated. This is allows for better performance with the cheap IMU used on the TurtleBot.

The calibration uses the imu/raw and estimates the bias. You will need to remap the input to the calibration to match the output of your 3dmgx.

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