cd ~/ws/src
git clone -b indigo-devel https://github.com/KristofRobot/razor_imu_9dof
cd razor_imu_9dof/config
cp razor.yaml my_razor.yaml
vi my_razor.yaml
cd ../../..
catkin_mak
roslaunch razor_imu_9dof razor-pub-and-display.launch
rosrun imu_utility ira_imu
ref: