Imu Message

[Morgantiz]

I'm using the Concert platform odometry, on topic "/concert_odometry/base_link/odom", to localize the robot with respect to its starting position. The x and y coordinates seem to work quite well, but the orientation angle on the navigation plane does not seem to be accurate in the same way.
Unfortunately, small errors on the orientation angle create more visible problems in localization that can only be compensated for through the use of sensors (checking the differences between the environment with the given map).
I have noticed that a common solution is to use the orientation component of an Imu, which is already on the Concert platform (e.g. Neobotix settings here, or even the turtlebot3, from what i have seen here). The meaning of the robot_localization node settings used by Neobotix are explained here.
For these reasons It would also be useful to have an /imu topic with a standard Imu Message sensor_msgs/Imu, as defined here, so i can test whether this improves the localization performance of the navigation stack.
Thank you!