Just wondering if anyone has any experience with adding an IMU to a turtlebot. Was looking at this one specifically http://ros.org/wiki/microstrain_3dmgx2_imu Has anyone had luck with any others or are there more popular choices? Also, would it be as simple as plugging it in and running the driver node? I'm guessing there would be problems with the turtlebot's powerboard gyro as that also publishes to imu/data.