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In IMU message, x,y and z values under angular_velocity correspond to roll rate, pitch rate and yaw rate respectively. Because, roll is rotation around x axis, pitch is around y and yaw is around z. Angles are represented as quaternion under orientation. They are not Euler angles directly. You should convert them from Quaternion to Euler angles. Check Wikipedia for description about Quaternions: https://en.wikipedia.org/wiki/Quaternions_and_spatial_rotation.

linear_acceleration values should be represented as m/s^2 unless otherwise stated. You should check REP-103 (http://www.ros.org/reps/rep-0103.html) for dimension and coordinate standards in ROS.

In IMU message, x,y and z values under angular_velocity correspond to roll rate, pitch rate and yaw rate respectively. Because, roll is rotation around x axis, pitch is around y and yaw is around z. Angles are represented as quaternion under orientation. They are not Euler angles directly. You should convert them from Quaternion to Euler angles. Check Wikipedia for description about Quaternions: https://en.wikipedia.org/wiki/Quaternions_and_spatial_rotation.

linear_acceleration values should be represented as m/s^2 unless otherwise stated. You should check REP-103 (http://www.ros.org/reps/rep-0103.html) for dimension and coordinate standards in ROS.