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The angular velocity in the state vector is the instantaneous angular velocity about the X, Y, and Z axes in the robot's body (base_link) frame. If your IMU frame is aligned (oriented) with the base_link frame, then the data provided by your gyros - provided that your IMU produces data in the ENU frame - will be correct. If you have your IMU mounted on its side, for example, then that will need to be reflected in your base_link->imu tf transform.

What part of the documentation leads you to believe otherwise? I'll have a look at it.

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