How to extract Magnetic data independently?

[WilliamWoo45]

Hi All!

Recently I'm using 3DM-GX3-25 IMU on the Husky robot and got the rostopic /imu/data. However, what I need is only the Magnetic data measured by the IMU.

I checked on my Husky robot and found that it used the driver microstrain_3dmgx2_imu. Then I checked the ros-drivers and it seems that gyroscope data, accelerometer data and magnetic data are fused and output together as /imu/data.

So I'm wondering is there any way to modify the driver to only extract the Magnetic data (output as a rostopic like /imu/magnetic)?
Any advice or hint is appreciated.

Thanks!
@chadrockey @mmwise @kwc @gerkey

[Sumyer]

@NTUwilliam
hi,
I also use 3DM-GX3-25 on the Husky for cartographer.
This is my email: [email protected]
I hope to communicate with you.
Thanks!