Odom messages

[Chiwingum11]

Hi @ZacharyTaylor,

I would like to ask how does one get geometry_msgs/TransformStamped.msg from sensor_msgs/Imu? Is there a way to obtain Odom data from IMU data? What should I do?
I downloaded https://github.com/nadiawangberg/imu_to_odom but there is barely any instruction on how to use it.

How do you obtain position X, Y, Z for the CSV file input. I'm aware that /imu/data provides the last 4 data but what about those 3?

Best Regards,
Nick