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This is definitely a compatibility issue of the imu_um6 ros package with the latest firmware (UM2B) for the CH Robotics UM6 IMU. Once I flashed to an earlier firmware version (I downloaded what was listed as UM1B but on 'identify firmware' it displays as UM1A) the umu_um6 ros package launches without errors and produces a fully functional tf in rviz.

I posted this issue on the aptima-ros-pkg site and I will also do some testing to see if I can determine the mismatch between the imu_um6 ros package and the UM2B firmware.

This is definitely a compatibility issue of the imu_um6 ros package with the latest firmware (UM2B) for the CH Robotics UM6 IMU. Once I flashed to an earlier firmware version (I downloaded what was listed as UM1B but on 'identify firmware' it displays as UM1A) the umu_um6 ros package launches without errors and produces a fully functional tf in rviz.IMU.

I posted this issue In order to clear the BAD CHECKSUM error (there are actually two) there are two settings that are different in the UM2B firmware that must be changed.

Under Communication (using the CH Robotics Interface to set the UM6)

Raw Gyro Output needs to be disabled Temperature Output needs to be disabled

As per the the tutorial on the aptima-ros-pkg site and I will also do some testing to see if I can determine the mismatch between setting up the imu_um6 ros package you must also enable Quaternion Output (under the Communication Tab, same as above), but this is to get the tf to display and has nothing to do with the UM2B firmware.BAD CHECKSUM message.