question: about imu_data.angular_velocity correction.

[asimay]

Hi, dear,
sorry for stupid question here, I didn't understand the code at here:

https://github.com/turtlebot/turtlebot_create/blob/indigo/create_node/src/create_node/gyro.py#L82

I cannot understand why we divide /self.cal_offset here to do angular velocity correction, shouldn't we use(gyro_measurement_range-self.cal_offset) to divide by here?

I cannot understand the meaning of the formular's denominator.
Please instruct me. Thank you very much!

[asimay]

another stupid question:
about raw data without correction, code at here:
https://github.com/turtlebot/turtlebot_create/blob/indigo/create_node/src/create_node/gyro.py#L91
why we use sensor_state.user_analog_input/self.gyro_measurement_range ? what does it mean? shouldn't we mutiply self.gyro_measurement_range here?
Thank you very much for your detail instruction!