Incorrect angular rates

[hamzaMahdi]

ros_mpu6050_node/src/mpu6050_node.cpp

Line 218 in aa54230

imu_msg.angular_velocity.x = ypr[2];

Hello, I saw you publishing the angular rates as roll, pitch, yaw and I believe this shouldnt be the case. RPY are the actual "tilt" angles of the imu and not the angular rates.
You can instead use the actual gyro output as shown in this link:
https://www.i2cdevlib.com/forums/topic/106-get-angular-velocity-from-mpu-6050/