Fixing handling of IMU data w.r.t. differential mode, relative mode, covariance rotation, and update vector rotation.
Fixing handling of IMU data w.r.t. differential mode, relative mode, covariance rotation, and update vector rotation.

ayrton04/robot_localization,braincorp/robot_localization,adnanademovic/robot_localization,adnanademovic/robot_localization,tscho1l/robot_localization,punithm/robot_localization,punithm/robot_localization,ayrton04/robot_localization,braincorp/robot_localization,tscho1l/robot_localization