Mapping error when using imu.

[lidarmansiwon]

There is a imu error that occurs when using the mapping.
Do I need to modify the msf_config.yaml file? It is currently using Lord 3DM and imu 9-axis ousters. The error is as shown in the picture below. Please help me

[Locosaac]

I am not 100% sure, but I think you may have some issues with the acceleration. The normal z-axis acceleration is -9.8m/s^2 so it's probably taking that into account. A Kalman filter might be needed. Or some configuration changes. Perhaps you could parse out the z-acceleration.

just spitballing ideas because I didn't see any answers.