Dear Paul and Ryan,
Thanks for your time and consideration. I think I get the idea behind the sensor models according to the fact that this toolbox is based on the "Open Source Sensor Fusion Package". But the fact is that these models actually act like negated real IMUs. If the algorithm was changed to "acceleration - g" instead of "-acceleration + g" everything would have worked fine though.
Anyway, for those who want to get the data similar to the real IMU sensors, the arguments should be as below:
- acc: acceleration of the body on which the IMU model is mounted, with respect to the global frame and descripted in the global frame.
- angVel: angular velocity of the body on which the IMU model is mounted, with respect to the global frame and descripted in the global frame, multiplied by -1.
- orientation: Transpose of rotation matrix of the IMU with respect to the global Frame (which is orientation of the global frame in the IMU frame), multiplied by -1.