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I found the answer to my question. See these 2 posts:

https://answers.ros.org/question/269030/imu-convention-for-robot_localization/
Why do 3-axis accelerometers seemingly have a left-handed coordinate system?

To summarize, in static condition the IMU measures the opposite of gravity acceleration.

I found the answer to my question. See these 2 posts:

~~https://answers.ros.org/question/269030/imu-convention-for-robot_localization/~~IMU convention for robot_localization
Why do 3-axis accelerometers seemingly have a left-handed coordinate system?

To summarize, in static condition the IMU measures the opposite of gravity acceleration.

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