which imu is in ENU frame to be used in robot-localization pkg?

edit

hi everyone,

I have two imu sensors, i want to know which of these sensors provide me the correct value? which of them are compatible with ENU convention? i don't know which of these sensors can be used in robot-localization pkg!!!

just to note that z axis in both imu is showing up! I would be grateful if someone helps!

IMU1:

---
header:
  seq: 70754
  stamp:
    secs: 1643793793
    nsecs: 917505690
  frame_id: "gx5_link"
orientation:
  x: -0.00222070445307
  y: 0.00700274854898
  z: 0.808141171932
  w: 0.588943004608
orientation_covariance: [0.01, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.01]
angular_velocity:
  x: 0.000555756385438
  y: 0.00148306495976
  z: 0.00340826343745
angular_velocity_covariance: [0.01, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.01]
linear_acceleration:
  x: 0.0506784621673
  y: -0.103927881103
  z: -9.82127460122
linear_acceleration_covariance: [0.01, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 0.01]

IMU2

---
header: 
  seq: 22634
  stamp: 
    secs: 1643888399
    nsecs: 731243955
  frame_id: "imu_link"
orientation: 
  x: 0.000677560098532
  y: -0.0224182954157
  z: -0.531560985908
  w: 0.846723023901
orientation_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
angular_velocity: 
  x: -9.57846641541e-05
  y: -0.000383116304874
  z: 0.000659817829728
angular_velocity_covariance: [1.0966225545416819e-06, 0.0, 0.0, 0.0, 1.0966225545416819e-06, 0.0, 0.0, 0.0, 1.0966225545416819e-06]
linear_acceleration: 
  x: 0.368707060814
  y: 0.280121594667
  z: 10.1418380737
linear_acceleration_covariance: [0.0015387263847514987, 0.0, 0.0, 0.0, 0.0015387263847514987, 0.0, 0.0, 0.0, 0.0015387263847514987]
---

thanks a lot