ROS driver for streaming IMU data from the VectorNav (VN-100T-CR) IMU/AHRS
From your catkin workspace folder, run the following:
$ mkdir -p ~/catkin_ws/src/
$ cd ~/catkin_ws/src/
$ git clone https://github.com/mkran/imu_stream.git
$ cd ~/catkin_ws
$ catkin build
$ source devel/setup.bash
$ roslaunch imu_stream default.launch