IMU data for angular velocity [closed]

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Hello

Im using sensor package consisting of IMU, Laser range finder and Camera(Kinect). So I do not have any encoders, so my odometry is all laser based. I created node that calculate linear and angular velocity of the robot(wheelchair), but I have very very noise results. So Im not using the imu in this calculation, but as already said in my bag file exist imu data. How to use this data from the bag file to correct my results??

Thanks