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Hi There,

I'm also trying to setup the razor_imu_9dof node with the new sparkfun board, I've found a fork of the original firmware that supports the new 14001 based board here:

https://github.com/lebarsfa/razor-9dof-ahrs

To be honest though, I haven't managed to get it working 100% yet but it's closer than anything else I've found so far. It's outputting the linear and angular acceleration values correctly but the orientation estimate seems a bit buggy. I'm working on this at the moment so I'll post any progress I make.