imu0:
  T_i_b:
  - - 1.0
    - 0.0
    - 0.0
    - 0.0
  - - 0.0
    - 1.0
    - 0.0
    - 0.0
  - - 0.0
    - 0.0
    - 1.0
    - 0.0
  - - 0.0
    - 0.0
    - 0.0
    - 1.0
  accelerometer_noise_density: 0.0186
  accelerometer_random_walk: 0.00433
  gyroscope_noise_density: 0.000587
  gyroscope_random_walk: 0.002866
  model: calibrated
  rostopic: /alphasense_driver_ros/imu
  time_offset: 0.0
  update_rate: 200.0