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Hey Tom, sorry for the late answer. I got so physical difficulties. Whatsoever, you're right. It was kind of confusing for me to read the documentation. What you are writing makes perfectly sense.

All the time I was wondering if my IMU reports the data in the right frame. It actually was, but I somehow tried to transform it. However...r_l is now running and I get data output.

For now I need to tune the covariances for the IMU to get some better data.

Thanks for your answer.