diff --git a/sensing/imu_corrector/src/gyro_bias_estimator.cpp b/sensing/imu_corrector/src/gyro_bias_estimator.cpp
index 42795805f803e..47c1014062714 100644
--- a/sensing/imu_corrector/src/gyro_bias_estimator.cpp
+++ b/sensing/imu_corrector/src/gyro_bias_estimator.cpp
@@ -83,6 +83,12 @@ void GyroBiasEstimator::update_diagnostics(diagnostic_updater::DiagnosticStatusW
     stat.add("gyro_bias", "Bias estimation is not yet ready because of insufficient data.");
     stat.summary(diagnostic_msgs::msg::DiagnosticStatus::OK, "Not initialized");
   } else {
+    stat.add("gyro_bias_x_for_imu_corrector", gyro_bias_.value().x);
+    stat.add("gyro_bias_y_for_imu_corrector", gyro_bias_.value().y);
+    stat.add("gyro_bias_z_for_imu_corrector", gyro_bias_.value().z);
+    stat.add("estimated_gyro_bias_x", gyro_bias_.value().x - angular_velocity_offset_x_);
+    stat.add("estimated_gyro_bias_y", gyro_bias_.value().y - angular_velocity_offset_y_);
+    stat.add("estimated_gyro_bias_z", gyro_bias_.value().z - angular_velocity_offset_z_);        
     // Validation
     const bool is_bias_small_enough =
       std::abs(gyro_bias_.value().x - angular_velocity_offset_x_) < gyro_bias_threshold_ &&