Information of the parameters on the launch file

[UtharaKeerthan]

Hi, thanks for publishing this code source. I have a query on the parameters that are used in the launch file.
I'm using the euroc.launch file and edited it to use it for my data set.

<param name="imu_covars/p_init" value="1e-12"/>
<param name="imu_covars/q_init" value="1e-5"/>
<param name="imu_covars/v_init" value="1e-2"/>
<param name="imu_covars/ba_init" value="1e-2"/>
<param name="imu_covars/bg_init" value="1e-2"/>

May I know how the above values are determined for the algorithm ? Are they obtained from the IMU calibration done offline ? Please provide your feedback on it. Thanks a lot.