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I have two suggestions:

1. Place your imu in a way where the sensor frame of the robot will be orientation aligned with your base_link frame (i.e., so that in your base_link -> imu_link tf, the orientation component is unit quaternion). I've found this useful for debugging localization, because you can directly compare what your orientation state estimate is with the orientation estimate provided by your imu.
2. Place it as far away from sources which cause soft iron interference (e.g., electronics) as you can. You should calibrate the magnetometer on the imu once it's on your robot to properly capture the hard / soft iron disturbance, and I've found the soft iron calibrations are much more unreliable than hard iron.

I have two suggestions:

1. Place your imu in a way where the sensor frame of the robot imu will be orientation aligned with your base_link frame (i.e., so that in your base_link -> imu_link tf, the orientation component is unit quaternion). I've found this useful for debugging localization, because you can directly compare what your orientation state estimate is with the orientation estimate provided by your imu.
2. Place it as far away from sources which cause soft iron interference (e.g., electronics) as you can. You should calibrate the magnetometer on the imu once it's on your robot to properly capture the hard / soft iron disturbance, and I've found the soft iron calibrations are much more unreliable than hard iron. iron.

I have two suggestions:

1. Place your imu in a way where the sensor frame of the imu will be orientation aligned with your base_link frame (i.e., so that in your base_link -> imu_link tf, the orientation component is unit quaternion). I've found this useful for debugging localization, because you can directly compare what your orientation state estimate is with the orientation estimate provided by your imu.
2. Place it as far away from sources which cause soft iron interference (e.g., electronics) as you can. You should calibrate the magnetometer on the imu once it's on your robot to properly capture the hard / soft iron disturbance, and I've found the soft iron calibrations are much more unreliable than hard iron.