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The Husky has an IMU calibration tool in the scripts directory:

http://wiki.ros.org/husky_bringup

You can also reboot into Windows and use Microstrain's own software to do calibration; the calibration parameters are then stored directly on the IMU itself.

The Husky has an IMU calibration tool in the scripts directory:

http://wiki.ros.org/husky_bringup

You can also reboot into hook the IMUs up (while still on the robot) to a laptop running Windows and use Microstrain's own software to do calibration; the calibration parameters are then stored directly on the IMU itself.