We’ve made some ROS node to get IMU values out of the reach. We tested it successfully for reach M+. It’s based on the RTIMULib2 that we compiled for the reach, for reasons we were not able to compile directly on it. Let us know if there are issues we’ll update the readme and make the required edit to the code. This outputs IMU message (Pose + Gyros + Accel) and the Compass as a MagneticField message.