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The transform looks ok. You did not mention but by the frame_id I guess you are using xsens imu.

Are these values correct w.r.t. the specified by the robot_localization: ENU frame?

They should be since according to the driver we have this:

~frame_local (string, default: ENU)
    the desired orientation of the ~frame_id reference frame

Since the sensor_msgs/Imu accelerations are in m/s^2 , and rotational velocityin rad/sec you can easily check if the values make sense by simple moving the imu around (not so easy for the quaternions but you can write a converter function to convert to degrees). I am not sure if the imu data you posted was from stationary or while moving the imu (I see linear acc of 9 m/s^2 so I guess it was moving). You also did not post your imu configuration that you are feeding into the robot_localization but you can check the configuration documentation.

The transform looks ok. You did not mention but by the frame_id I guess you are using xsens imu.

Are these values correct w.r.t. the specified by the robot_localization: ENU frame?

They should be since according to the driver we have this:

~frame_local (string, default: ENU)
    the desired orientation of the ~frame_id reference frame

Since the sensor_msgs/Imu accelerations are in m/s^2 , and rotational velocityin rad/sec you can easily check if the values make sense by simple moving the imu around (not so easy for the quaternions but you can write a converter function to convert to degrees). degrees and simply print them out). I am not sure if the imu data you posted was from stationary or while moving the imu (I see linear acc of 9 m/s^2 so I guess it was moving). You also did not post your imu configuration that you are feeding into the robot_localization but you can check the configuration documentation. .

The transform looks ok. You did not mention but by the frame_id I guess you are using xsens imu.

Are these values correct w.r.t. the specified by the robot_localization: ENU frame?

They should be since according to the driver we have this:

~frame_local (string, default: ENU)
    the desired orientation of the ~frame_id reference frame

Since the sensor_msgs/Imu accelerations are in m/s^2 , and rotational velocityin rad/sec you can easily check if the values make sense by simple moving the imu around (not so easy for the quaternions but you can write a converter function to convert to degrees and simply print them out). out).

I am not sure if the imu data you posted was from stationary or while moving the imu (I see linear acc of 9 m/s^2 so I guess it was moving). moving). If it was stationary then something might be wrong.

You also did not post your imu configuration that you are feeding into the robot_localization but you can check the configuration documentation.

The transform looks ok. You did not mention but by the frame_id I guess you are using xsens imu.

Are these values correct w.r.t. the specified by the robot_localization: ENU frame?

They should be since according to the driver we have this:

~frame_local (string, default: ENU)
    the desired orientation of the ~frame_id reference frame

Since the sensor_msgs/Imu accelerations are in m/s^2 , and rotational velocityin rad/sec you can easily check if the values make sense by simple moving the imu around (not so easy for the quaternions but you can write a converter function to convert to degrees and simply print them out).

I am not sure if the imu data you posted was from stationary or while moving the imu (I see linear acc of 9 m/s^2 so I guess it was moving). If it was stationary then something might be wrong.

You also did not post your imu configuration that you are feeding into the robot_localization but you can check the configuration documentation.