How to get linear acceleration in bebop autonomy?

[LArayane]

Hello

Am using bebop drone to get some data like linear velocities, position and linear acceleration.

I have the following question:

1/ What is the difference between the linear velocity published in /bebop/cmd-vel topic and the one in /bebop/odom topic 2/ As long as I understand we control the bebop by sending commands to /bebop/cmd-vel topic , So in this case the data published in cmd-vel topic are they accelerations (forces) or velocities!! 3/ How to get the linear acceleration! Because I couldn't find the topic that provides IMU data!!

I hope my questions are clear and any answer would be appreciated. Thanks