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(a) It's up to you. It doesn't take in multiple IMUs, no, but if you use the use_odometry_yaw setting and you DO NOT have differential or relative mode on for, it will take the fused yaw from the EKF (use ekf_global_node) and use that instead.

(b) That's up to you. Do you need it?

(c) Just keep referring to the tutorials. I also have a branch with some improved documentation in the form of launch and config files.