On NovAtel receivers with built-in IMU (e.g. PwrPak7), IMU data is output to as follows:

On ROS:

/gps/imu topic: IMU data corrected for gravity and IMU biases. Note: due to gravity correction, the output does not follow REP145 convention; the Z-acceleration at rest is 0, not 9.8 m/s/s.

/imu/data_raw topic: Raw IMU output, populated from Oem7 RAWIMUSX log. the data is scaled.