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Hi,

Your IMU doesn't seem to compute orientation data, only angular velocity. For common wheel odometry (guessing husky_velocity_controller/odom), you would have x, y, theta position data and x, theta velocity data:

odom0_config: [true, true, false,
               false, false, true,
               true, false, false,
               false, false, true,
               false, false, false]
imu0_config: [false, false, false,
              false, false, false,
              false, false, false,
              true, true, true,
              true, true, true] <-- could be (false, false, false) if acceleration adds too much drift

cheers