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No covariance values for imu sensor plugin


is there any way to set covariance values for the imu plugin? I am using it to stabilize my wheel odometry using robot_localization and it complains about the imu message having no values in its covariance data and sets it to something very small.

Since i want to use some noise i would like to adjust the covariance matrix accordingly. Or do i have to switch to the hector imu plugin?

I would be thankful for any tips regrading this.