How to mount Razor IMU on Clearpath Husky Robot

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I hope you can help me with my Razor IMU configuration (SEN-10736). I've followed the razor_imu_9dof tutorial in order to make the board work under ROS Indigo and everything works great!

I'm just getting confused about the IMU orientation on my Clearpath Husky robot: should I mount the board by aligning the x-axis (the axis which points towards the short edge with the connector holes) towards the front bumper of my robot? Or should I use the frame orientation specified on the sensor board?

The side with the electronics component should point up or down?

By looking at the visual tool under ROS, I think I should place the IMU with the short edge pointing towards the front bumper, but what about the component side? Should it face up or down?

• The roll values should be positive when moving on the right side or on the left side?
• And the pitch values should be positive when moving up or down?

Thank you!

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