diff --git a/yaml/demo_visual_odometry_euroc.yaml b/yaml/demo_visual_odometry_euroc.yaml
index bbbd15f99883d5993e4902fdbef06a1415679fdf..94eedcc1a7866def87e7176c8c23ae2765dbe151 100644
--- a/yaml/demo_visual_odometry_euroc.yaml
+++ b/yaml/demo_visual_odometry_euroc.yaml
@@ -19,7 +19,9 @@ config:
       mode: "factor"
       $state:
         P: [0,0,0]
-        O: [0,0,0,1]  # x,y,z,w
+        # P: [0,0,0.5]
+        O: [0,0,0,1]
+        # O: [0, 0.20791169, 0, 0.9781476]  # x,y,z,w
       $sigma:
        P: [0.00001, 0.00001, 0.00001]
        O: [0.01, 0.01, 0.01]
@@ -34,9 +36,18 @@ config:
       name: "CAMERA"
       plugin: "vision"
       extrinsic:
-        pose: [0,0,0, 0.5,-0.5,0.5,-0.5]
+        # pose: [0,0,0, 0.5,-0.5,0.5,-0.5]
+        pose: [0.0098,0.0647,-0.0216, 0.7071068, 0, 0.7071068, 0] # orientation wrt IMU in vi-sensor, https://projects.asl.ethz.ch/datasets/doku.php?id=kmavvisualinertialdatasets
+        # pose: [-0.0216,-0.0647,0.0098,  -0.0077072, 0.0104967, 0.7017528, 0.7123015] # according to mav0/cam0/sensor.yaml in dataset
       using_raw: false
       follow: "camera_euroc_mav0.yaml"
+    -
+      type: "SensorImu"
+      name: "IMU"
+      plugin: "imu"
+      extrinsic:
+        pose:  [0,0,0, 0,0,0,1]
+      follow: "vi_sensor_imu.yaml"
 
   processors:
     -
@@ -50,9 +61,18 @@ config:
     -
       package: "wolf_ros_vision"
       type: "SubscriberCamera"
-      # topic: "/cam0/image_raw"
       topic: "/cam0/image_rect"
       sensor_name: "CAMERA"
+    -
+      package: "wolf_ros_imu"
+      type: "SubscriberImu"
+      topic: "/imu/imu_raw"
+      sensor_name: "IMU"
+      imu_x_axis: 3
+      imu_y_axis: -2
+      imu_z_axis: 1
+      cov_source: "sensor"
+      in_degrees: false
 
   ROS publisher:
     -