The Tinkerforge IMU 2 looks interesting. What ROS package are you using for it? So far I’ve only seen tinkerforge_laser_transform and another package from the same author.
But I’m not happy with the nodes covariance matrix (all 3x3 values 0.1).
I’m not an export on covariance, but having all three 3x3 matrices with the same value looks a bit arbitrary to me. Also I don’t see any dependency on one axis to the other.