Hi Guys, I'm working on project where i want to fuse both wheel odom+IMU data. I'm using robot_localization package to fuse the sensors data. I ran some tests but the combined odometry is always near to the raw odometry. I feel that there is some issue with IMU(Sparton) data.

1. How to mount IMU on mobile robot base? Should i keep the IMU on same axis to body frame(X-fwd Y-left Z-up) or not?

2. i'm using this package to get the values from IMU and convert them into ENU https://github.com/udmamrl/SpartonCompassIMU. After converting the values into ENU the pitch and roll are inverted.

Here are some example data .

imu : https://drive.google.com/open?id=1KX6coh4z63sbyuuNXuSVDQz_ptGICGyY

odom : https://drive.google.com/open?id=1g7Iw7FozPxO1fGWG3wqv8Dm_i5uCnKxS

tftree : https://drive.google.com/open?id=1KX6coh4z63sbyuuNXuSVDQzptGICGyY

I'm sure this information is not sufficient for some questions, if you need any extra explanation i'm happy to provide.