autonomy_create driver yaw angle range is [2pi ~ -2pi]?

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Hi all

I want to compare my odometry yaw angle and imu yaw angle to understand current accuracy of my IMU. From what I get, IMU output is [pi ~ -pi] but the autonomy_create (using irobotcreate2) yaw angle output starts from 0 upto +/-2pi depending on the robot turning clockwise or anti-clockwise. is this correct?

If I can confirm autonomy_create output as [2pi ~ -2pi] I think need to change the source to match with my IMU output. I intend to run robot_localization and robot_pose_ekf in the future, but I think difference in yaw output range of my odom yaw angle and imu yaw angle will have some problem.

Thanks in advance.