diff --git a/force_torque_sensor_calib/src/ft_calib_node.cpp b/force_torque_sensor_calib/src/ft_calib_node.cpp
index 5762ed1..02b4911 100644
--- a/force_torque_sensor_calib/src/ft_calib_node.cpp
+++ b/force_torque_sensor_calib/src/ft_calib_node.cpp
@@ -425,7 +425,9 @@ class FTCalibNode
 		geometry_msgs::Vector3Stamped gravity;
 		gravity.header.stamp = ros::Time();
 		gravity.header.frame_id = m_imu.header.frame_id;
-		gravity.vector = m_imu.linear_acceleration;
+		gravity.vector.x = -m_imu.linear_acceleration.x; // IMU will measure gravity in the opposite direction from F/T sensor, check https://github.com/kth-ros-pkg/force_torque_tools/pull/18
+		gravity.vector.y = -m_imu.linear_acceleration.y;
+		gravity.vector.z = -m_imu.linear_acceleration.z;
 
 		geometry_msgs::Vector3Stamped gravity_ft_frame;
 
diff --git a/gravity_compensation/src/gravity_compensation.cpp b/gravity_compensation/src/gravity_compensation.cpp
index 187f3ae..410135c 100644
--- a/gravity_compensation/src/gravity_compensation.cpp
+++ b/gravity_compensation/src/gravity_compensation.cpp
@@ -73,7 +73,9 @@ bool GravityCompensation::Compensate(const geometry_msgs::WrenchStamped &ft_zero
 {
 
     geometry_msgs::Vector3Stamped g;
-    g.vector = gravity.linear_acceleration;
+    g.vector.x = -gravity.linear_acceleration.x; // IMU will measure gravity in the opposite direction from F/T sensor, check https://github.com/kth-ros-pkg/force_torque_tools/pull/18
+    g.vector.y = -gravity.linear_acceleration.y;
+    g.vector.z = -gravity.linear_acceleration.z;
     g.header = gravity.header;
     g.header.stamp = ros::Time();