The instructions to read the data are similar to the ones described in this post, but with accelerations and angular velocities instead of positions / orientations.
This means, we need relative calibration, time synchronization and expected formatting.
Typical data should look like this
Usage is also similar, we need to give it a weight in the SLAM and you may use ‘Optimize Graph with IMU’ for post processing. But we also need to to set the gravity vector ( by default 0,0,-9.80511 ) if the data is containing it.
Hope this helps.
Gatien