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I use microstrain_3dmgx2_imu package and I feed its output directly to the robot_pose_ekf. It is true that the frame of the data coming from GX2 is different than ROS's. But the node makes the transformation before publishing.
If you are using a GX3 sensor and don't use it in AHRS mode, then the data should not be transformed. In that particular case the frame of the sensor matches the coordinate system of ROS.
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