Reset xsens Mti-3(development kit) IMU

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Hi Everyone

I am using the IMU Mti-3 (development kit) version in ROS. I am using the filter VRU which provides me with unreferenced Yaw. I am using the IMU data in AMCL planner for mobile robots.

At the beginning when the robot is turned on, I would like to do the following things

Reset the Gyroscope and Accelerometer to zero in order to calibrate as I know that my robot is stationary Reset the Heading for the Yaw reading to zero ( i don't know what that value would be in Quaternion form)