Yaw direction issue

[spcrobocar]

Hi, I have install the Adafruit BNO055 Absolute Orientation Sensor on my robot with the side with chips on the top. When I run this ROS node and use rviz to display the IMU angle, I found the yew was not correct. When I rotate my robot to the left, the rviz show the imu rotate to the right. How can I fix this?

Thank you very much.

[romainreignier]

Orientations with IMU are never simple. Some are left handed, other, right handed. Some use NED convention while ROS uses the ENU convention.
To change the IMU orientation, you can use a tool such as imu_transformer.