On NovAtel receivers with built-in IMU (e.g. PwrPak7), IMU data is output to as follows:

On ROS:

/gps/imu topic: IMU data corrected for gravity and IMU biases. Note: due to gravity correction, the output does not follow REP145 convention; the Z-acceleration at rest is 0, not 9.8 m/s/s.

/imu/data_raw topic: Raw IMU output, populated from Oem7 RAWIMUSX log. the data is scaled.

On ROS2:

imu/data topic: IMU data corrected for gravity and IMU biases. Note: due to gravity correction, the output does not follow REP145 convention; the Z-acceleration at rest is 0, not 9.8 m/s/s.

imu/data_raw topic: Raw IMU output, populated from Oem7 RAWIMUSX log. The user must scale the data as described in the RAWIMUSX manual section. IMU type and rate can be obtained at runtime from /novatel/oem7/insconfig topic.