Coordinate system mismatch

[rsasaki0109]

The output of this IMU is a non-ROS coordinate system, but the following code converts the IMU to imu messages without considering the conversion from non-ROS to ROS.

      imu_msg.angular_velocity.x =
          raw_data * (200 / pow(2, 15)) * M_PI / 180;  // LSB & unit [deg/s] => [rad/s]
      raw_data = msg->data[5] + (msg->data[4] << 8);
      imu_msg.angular_velocity.y =
          raw_data * (200 / pow(2, 15)) * M_PI / 180;  // LSB & unit [deg/s] => [rad/s]
      raw_data = msg->data[7] + (msg->data[6] << 8);
      imu_msg.angular_velocity.z =
        raw_data * (200 / pow(2, 15)) * M_PI / 180;  // LSB & unit [deg/s] => [rad/s]

https://github.com/MapIV/tamagawa_imu_driver/blob/master/src/tag_can_driver.cpp#L74-L81