Install a Second IMU, Clearpath Husky

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AFAIK, you should use package microstrain_3dmgx2_imu ( http://wiki.ros.org/microstrain_3dmgx... ) to publish this new IMU. But to not to mix this one with the other IMU (possibly UM6), you should remap /imu/data topic of microstrain to another one. Like;

<node pkg="microstrain_3dmgx2_imu" type="imu_node" name="microstrain_3dmgx2_imu" output="screen">
        <remap from="/imu/data" to="/ms_imu/data" />
</node>

After these, you should include this new IMU into robot_localization via config ( https://github.com/husky/husky/blob/i... ).

For example you can add;

imu1: ms_imu/data
imu1_config: [false, false, false,
              true, true, true,
              false, false, false,
              true, true, true,
              false, false, false]
imu1_differential: true
imu1_remove_gravitational_acceleration: true

This should implement your new IMU into your setup.