Does ros_arduino_bridge support a gyro or imu?

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Thanks for the timely response. I have found that a gyro makes a huge improvement for turning accuracy over wheel odometry, so would really like to incorporate that data. I tried to add gyro support in the way that Turtlebot does, but got bogged down with the details of /imu/data and imu/raw.

I spent many hours going through the nav tutorials and trying to pick apart the Turtlebot code but ultimately failed. I bought the book ROS by Example, which is excellent, but was disappointed that even that book does not cover using a gyro.

I see from ros.answers that a lot of people have the same problem trying to get gyro data into a non-create-based version of Turtlebot.

I could publish the gyro data as the theta component of /odom, that seems straightforward, but I don't know if that will allow me access to the good nav features of Turtlebot, since it means I have to use the "no gyro present" option. Do you think that would work??

These were actually just one comment, but had to be broken up due to character limits.