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I wouldn't recommend using this package, as it's far too tied into their development.

I would have to recommend the orientus driver it works with advanced navigations orientus unit which is available on ros: http://wiki.ros.org/orientus_driver

This works and uses the standard libraries, I had no issues adapting this driver to the spatial units just by changing libraries to the spatial sdk avalaible at advanced navigation's website.

It's still very much a work in progress, but it works quite nicely.

Thanks for looking