imu_xg6000_ros2 ROS2 package for CruzeCore Microinfinity XG6000 Usage $ ros2 run imu_xg6000_ros2 main_node --ros-args -p port_name:=/dev/ttyUSB0 -p baudrate:=38400 -p frame_id:=imu_link Topics imu_raw [sensor_msgs/msg/Imu]