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The frame_id for the imu was set to "map". There was a comment there that this was for Rviz. When the frame_id was set to imu_link, the map error was fixed.

The frame_id for the imu was set to "map". See the typical imu message in the op. There was a comment there that this was for Rviz. When the frame_id was set to ~~imu_link,~~ imu_frame, the map error was ~~fixed.~~ fixed.

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