A driver for IMUs compatible the microstrain 3DM-GX2 and 3DM-GX3 protocol. Includes a heavily modified standalone driver pulled from the player distribution, and a ROS node.
A currently unstable and unsupported C++ API can be used to communicate with 3DM-MG2 IMUs. It is fully contained in the class microstrain_3dmgx2_imu::IMU