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Your IMU0 configuration is specified incorrectly. You have this:

 <rosparam param="imu0">[false,  false,  false,
                        false  false,  true,
                        false,  false, false,
                        false, false, true,
                        true, false, false]</rosparam>

You want this:

<rosparam param="imu0_config">[false,  false,  false,
                        false  false,  true,
                        false,  false, false,
                        false, false, true,
                        true, false, false]</rosparam>

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