Wrong sign in the /Imu topic angular_velocity

[maciej-przylecki]

I've been trying to integrate the /Imu topic into the robot_localization package. I've noticed that if I use the orientation from the /Imu topic the output topic from robot_localization reports the expected orientation. But if I use the angular_velocity the output topic orientation seems to be reversed.

Reviewing the code from advanced_navigation_driver.cpp I saw that the orientation topics are corrected to match the REP-103 specification.

If I change

imu_msg.angular_velocity.z=system_state_packet.angular_velocity[2];

to

imu_msg.angular_velocity.z=-system_state_packet.angular_velocity[2];

I get the expected behavior