# This is a message to hold data from an IMU (Inertial Measurement Unit)
#
# Accelerations should be in m/s^2 (not in g's), and rotational velocity should be in rad/sec
#
# If the covariance of the measurement is known, it should be filled in (if all you know is the variance of each measurement, e.g. from the datasheet, just put those along the diagonal)
# A covariance matrix of all zeros will be interpreted as "covariance unknown", and to use the data a covariance will have to be assumed or gotten from some other source
#
# If you have no estimate for one of the data elements (e.g. your IMU doesn't produce an orientation estimate), please set element 0 of the associated covariance matrix to -1
# If you are interpreting this message, please check for a value of -1 in the first element of each covariance matrix, and disregard the associated estimate.

Header header

geometry_msgs/Quaternion orientation
float64[9] orientation_covariance # Row major about x, y, z axes

geometry_msgs/Vector3 angular_velocity
float64[9] angular_velocity_covariance # Row major about x, y, z axes

geometry_msgs/Vector3 linear_acceleration
float64[9] linear_acceleration_covariance # Row major x, y z 
