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Here it is. If um6 or um7 is likely about the version of husky used.

husky/husky_bringup/launch/um6_config/um6.launch husky/husky_bringup/launch/um7_config/um7.launch

  <!-- Transforms UM7 tilted data in imu_link frame to ENU data in base_link frame -->
  <node pkg="nodelet" type="nodelet" name="imu_data_transformer" args="load imu_transformer/imu_transformer_nodelet imu_manager">
    <remap from="imu_in" to="imu_um7"/>
    <remap from="imu_out/data" to="imu/data_raw"/>
    <remap from="imu_out/mag" to="imu/mag"/>
    <param name="target_frame" value="base_link"/>
  </node>

Here it is. If um6 or um7 is likely about the version of husky used.

husky/husky_bringup/launch/um6_config/um6.launch

  <!-- Transforms UM7 tilted data in imu_link frame to ENU data in base_link frame -->
  <node pkg="nodelet" type="nodelet" name="imu_data_transformer" args="load imu_transformer/imu_transformer_nodelet imu_manager">
    <remap from="imu_in" to="imu_um7"/>
    <remap from="imu_out/data" to="imu/data_raw"/>
    <remap from="imu_out/mag" to="imu/mag"/>
    <param name="target_frame" value="base_link"/>
  </node>

Here it is. If um6 or um7 is likely about the version of husky used.

husky/husky_bringup/launch/um6_config/um6.launch 
 
husky/husky_bringup/launch/um7_config/um7.launchhusky/husky_bringup/launch/um7_config/um7.launch
  
  <!-- Transforms UM7 tilted data in imu_link frame to ENU data in base_link frame -->
  <node pkg="nodelet" type="nodelet" name="imu_data_transformer" args="load imu_transformer/imu_transformer_nodelet imu_manager">
    <remap from="imu_in" to="imu_um7"/>
    <remap from="imu_out/data" to="imu/data_raw"/>
    <remap from="imu_out/mag" to="imu/mag"/>
    <param name="target_frame" value="base_link"/>
  </node>
 

  <!-- Transforms UM7 tilted data in imu_link frame to ENU data in base_link frame -->
  <node pkg="nodelet" type="nodelet" name="imu_data_transformer" args="load imu_transformer/imu_transformer_nodelet imu_manager">
    <remap from="imu_in" to="imu_um7"/>
    <remap from="imu_out/data" to="imu/data_raw"/>

You said you tried changing the urdf, but did you add "<frameid>" or really mistook the "<bodyname>" parameter maybe? Take a look -> this. <remap from="imu_out/mag" to="imu/mag"/> <param name="target_frame" value="base_link"/> </node> </node>

Here it is. If um6 or um7 is likely about the version of husky used.

husky/husky_bringup/launch/um6_config/um6.launch

husky/husky_bringup/launch/um7_config/um7.launch

  <!-- Transforms UM7 tilted data in imu_link frame to ENU data in base_link frame -->
  <node pkg="nodelet" type="nodelet" name="imu_data_transformer" args="load imu_transformer/imu_transformer_nodelet imu_manager">
    <remap from="imu_in" to="imu_um7"/>
    <remap from="imu_out/data" to="imu/data_raw"/>

EDIT: from comments - Answer was:

You said you tried changing the urdf, but did you add "<frameid>" or really mistook the "<bodyname>" parameter maybe? Take a look -> this. <remap from="imu_out/mag" to="imu/mag"/> </node>

Here it is. If um6 or um7 is likely about the version of husky used.

husky/husky_bringup/launch/um6_config/um6.launch

husky/husky_bringup/launch/um7_config/um7.launch

  <!-- Transforms UM7 tilted data in imu_link frame to ENU data in base_link frame -->
  <node pkg="nodelet" type="nodelet" name="imu_data_transformer" args="load imu_transformer/imu_transformer_nodelet imu_manager">
    <remap from="imu_in" to="imu_um7"/>
    <remap from="imu_out/data" to="imu/data_raw"/>
    <remap from="imu_out/mag" to="imu/mag"/>
    <param name="target_frame" value="base_link"/>
  </node>

EDIT: from comments - Answer was:

You said you tried changing the urdf, but did you add "<frameid>" or really mistook the "<bodyname>" parameter maybe? Take a look -> this. <remap from="imu_out/mag" to="imu/mag"/> </node>this.

Here it is. If um6 or um7 is likely about the version of husky used.

husky/husky_bringup/launch/um6_config/um6.launch

husky/husky_bringup/launch/um7_config/um7.launch

  <!-- Transforms UM7 tilted data in imu_link frame to ENU data in base_link frame -->
  <node pkg="nodelet" type="nodelet" name="imu_data_transformer" args="load imu_transformer/imu_transformer_nodelet imu_manager">
    <remap from="imu_in" to="imu_um7"/>
    <remap from="imu_out/data" to="imu/data_raw"/>
    <remap from="imu_out/mag" to="imu/mag"/>
    <param name="target_frame" value="base_link"/>
  </node>

EDIT: from comments - Answer was:

You said you tried changing the urdf, but did you add "<frameid>" or really mistook the "<bodyname>" parameter maybe? Take a look -> this.this