Calibrating UM6 IMU (Possibly Using Husky_Robot Calibrator)

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Hi, I'm hoping to calibrate my IMU's data before sending it into the robot_pose_ekf package (because the IMU's data is too noisy). The IMU I am using is the CH-UM6r2.

I saw the following mentioned as a possible way of calibrating the IMU's data itself: https://github.com/husky/husky_robot/...

I can't figure out how to use it though. May someone provide a more detailed explanation of how to use this calibrator? Alternatively, I am open to other ideas. I am hoping to add the IMU onto a robot that runs Ubuntu.