imu.yaml

###PX4-mini
#Accelerometers
accelerometer_noise_density: 0.00333388   #Noise density (continuous-time)
accelerometer_random_walk:   0.00047402   #Bias random walk

#Gyroscopes
gyroscope_noise_density:     0.00005770   #Noise density (continuous-time)
gyroscope_random_walk:       0.00001565   #Bias random walk

rostopic:                    /mavros/imu/data_raw      #the IMU ROS topic
update_rate:                 100.0      #Hz (for discretization of the values above)

###T265
#accelerometer_noise_density: 1.85e-03   #Noise density (continuous-time)
#accelerometer_random_walk:   2.548e-05   #Bias random walk

#Gyroscopes
#gyroscope_noise_density:     1.094e-02   #Noise density (continuous-time)
#gyroscope_random_walk:       5.897e-04   #Bias random walk

#rostopic:                    /camera/imu      #the IMU ROS topic
#update_rate:                 200.0      #Hz (for discretization of the values above)


###d435i
##Accelerometers
#accelerometer_noise_density: 0.001865   #Noise density (continuous-time)
#accelerometer_random_walk:   0.0002   #Bias random walk

##Gyroscopes
#gyroscope_noise_density:     0.0018685   #Noise density (continuous-time)
#gyroscope_random_walk:       0.000004   #Bias random walk

#rostopic:                    /camera/imu      #the IMU ROS topic
#update_rate:                 400.0     #Hz (for discretization of the values above)


###zed mini
##Accelerometers
#accelerometer_noise_density: 1.4e-03   #Noise density (continuous-time)
#accelerometer_random_walk:   8.0e-05   #Bias random walk

##Gyroscopes
#gyroscope_noise_density:     8.6e-05   #Noise density (continuous-time)
#gyroscope_random_walk:       2.2e-06   #Bias random walk

#rostopic:                    /zed/zed_node/imu/data_raw      #the IMU ROS topic
#update_rate:                 800.0     #Hz (for discretization of the values above)