# Zeroing Out Orientation and Linear Acceleration of IMU

Hi, I am trying to figure out how to zero out the orientation and linear acceleration of my IMU, so that when I launch it, the x and y values begin at 0, rather than at some value like orientation of 0.126.

Anything would help, but my code for using my IMU is here for reference: https://github.com/brianzhan/husky_ro...

Below is a sample of the message when I launch my um6.launch script, where orientation and linear acceleration don't begin at 0. It is necessary for me get it to 0 to fuse it with my wheel odometry data and other tasks:

```
header:
seq: 456
stamp:
secs: 1463184035
nsecs: 667352940
frame_id: imu_link
orientation:
x: 0.0279296576
y: 0.1263548452
z: -0.9905964737
w: 0.0441436295
orientation_covariance: [0.01596195437014103, -0.0012914746766909957, -0.0005610909429378808, -0.0012914201943203807, 0.012185076251626015, 0.00017108242900576442, -0.0005610864027403295, 0.0001710832875687629, 0.011863413266837597]
angular_velocity:
x: 0.00319579559884
y: -0.00106526519961
z: -0.00106526519961
angular_velocity_covariance: [2.5e-05, 0.0, 0.0, 0.0, 2.5e-05, 0.0, 0.0, 0.0, 2.5e-05]
linear_acceleration:
x: -0.03952058
y: 0.4311336
z: -10.28073997
linear_acceleration_covariance: [0.0036, 0.0, 0.0, 0.0, 0.0036, 0.0, 0.0, 0.0, 0.0036]
```