Absolute or cartesian coordinate for odometry, and IMU Orientation

[ChehabiMed]

Hello,
-i am publishing my odometry msgs in Cartesian space, do EKF expect polar or absolute coordinates? because i see some people publishing polar coordinates, and others publishing absolute coordinates!
-How can i make my ekf take in consideration the orientation of the robot, I'm using an oriented measurements for roll,pitch and yaw.
Thank you

[ayrton04]

As the issue template says, please direct questions to robotics.stackexchange.com. If you have already asked a question there, please be patient and I will get to it when I can.

Also, please use text instead of screenshots. Make sure to include your full config and a sample message from all sensor inputs.