IMU messages (sensor_msgs/Imu Message) using incorrect units?

[greymfm]

According to ROS docs, the IMU messages should use m/s² units (and not g's) for acceleration etc.:

http://docs.ros.org/en/noetic/api/sensor_msgs/html/msg/Imu.html

In the IMU message generation code, I don't see any earth gravity constant (1g = 9.8 m/s²) in the acceleration computation:

livox_ros_driver2/src/lddc.cpp

Line 493 in 6b9356c

imu_msg.linear_acceleration.x = imu_data.acc_x;

Instead, this should probably look like this (according to ROS specifications)? :-)
imu_msg.linear_acceleration.x = imu_data.acc_x * 9.8
imu_msg.linear_acceleration.y = imu_data.acc_y * 9.8
imu_msg.linear_acceleration.z = imu_data.acc_z * 9.8;