${update_rate} ${link} ${imu_frame} ${imu_topic} 0.0 0.0 0.0 ${sqrt(5e-05)} ${sqrt(0.0001)} ${sqrt(0.00013)} 0.0 0.0 0.0 ${sqrt(8e-06)} ${sqrt(8e-06)} ${sqrt(3e-07)} 0.0 ${sqrt(0.1)}