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The Roomba 531 does not have an IMU inside.

You can calibrate the Roomba to improve your odometry. You'll find a define for ROOMBA_PULSES_TO_M in the OpenInterface.h file inside the include folder in the roomba_500_series pkg. You can also tweak ROOMBA_AXLE_LENGTH on the same file which will also influence your odometry.

Still your odometry would greatly improve should you purchase an IMU. As noted earlier the IMU used by the Create cannot be directly connected to the Roomba, you would need to use something like an Arduino to read the values and send them to the host computer. This would also mean a pkg should be created to receive the data in ROS.

Hope this helps!