diff --git a/external/vectornav b/external/vectornav
new file mode 160000
index 00000000..2859fe18
--- /dev/null
+++ b/external/vectornav
@@ -0,0 +1 @@
+Subproject commit 2859fe18a3c4a5e6d3dafcef9923df9a854a2660
diff --git a/urc_bringup/launch/bringup.launch.py b/urc_bringup/launch/bringup.launch.py
index 43200aef..dc50a183 100644
--- a/urc_bringup/launch/bringup.launch.py
+++ b/urc_bringup/launch/bringup.launch.py
@@ -81,6 +81,16 @@ def generate_launch_description():
         arguments=["-p", controller_config_file_dir, "status_light_controller"],
     )
 
+    vectornav_node = Node(
+        package="vectornav",
+        executable="vectornav"
+    )
+
+    imu_parser_node = Node(
+        package="urc_platform",
+        executable="urc_platform_IMUParser"
+    )
+
     # load_arm_controller = Node(
     #     package="controller_manager",
     #     executable="spawner",
@@ -160,6 +170,8 @@ def generate_launch_description():
             launch_gps,
             launch_imu,
             rosbridge_server_node,
-            odom_frame_node
+            odom_frame_node,
+            vectornav_node,
+            imu_parser_node
         ]
     )
diff --git a/urc_platform/CMakeLists.txt b/urc_platform/CMakeLists.txt
index adf31705..b8df6c02 100644
--- a/urc_platform/CMakeLists.txt
+++ b/urc_platform/CMakeLists.txt
@@ -11,6 +11,7 @@ find_package(std_msgs REQUIRED)
 find_package(sensor_msgs REQUIRED)
 find_package(diagnostic_updater REQUIRED)
 find_package(usb_cam REQUIRED)
+find_package(vectornav_msgs REQUIRED)
 
 include_directories(
   include
@@ -19,6 +20,7 @@ include_directories(
 # Library creation
 add_library(${PROJECT_NAME} SHARED
   src/joystick_driver.cpp
+  src/imu_parser.cpp
 )
 
 set(dependencies
@@ -28,6 +30,7 @@ set(dependencies
   sensor_msgs
   diagnostic_updater
   usb_cam
+  vectornav_msgs
 )
 
 ament_target_dependencies(${PROJECT_NAME}
@@ -41,6 +44,12 @@ rclcpp_components_register_node(
   EXECUTABLE ${PROJECT_NAME}_JoystickDriver
 )
 
+rclcpp_components_register_node(
+  ${PROJECT_NAME}
+  PLUGIN "imu_parser::IMUParser"
+  EXECUTABLE ${PROJECT_NAME}_IMUParser
+)
+
 # Install launch files.
 install(
   DIRECTORY
diff --git a/urc_platform/include/imu_parser.hpp b/urc_platform/include/imu_parser.hpp
new file mode 100644
index 00000000..43e28afb
--- /dev/null
+++ b/urc_platform/include/imu_parser.hpp
@@ -0,0 +1,33 @@
+#ifndef IMU_PARSER_H
+#define IMU_PARSER_H
+
+#include <bits/stdc++.h>
+#include <math.h>
+#include <rclcpp/qos.hpp>
+#include <rclcpp/rclcpp.hpp>
+#include <rclcpp_components/register_node_macro.hpp>
+#include <sensor_msgs/msg/imu.hpp>
+#include <unistd.h>
+#include <vectornav_msgs/msg/common_group.hpp>
+
+namespace imu_parser
+{
+
+class IMUParser : public rclcpp::Node
+{
+public:
+  explicit IMUParser(const rclcpp::NodeOptions & options);
+
+private:
+  rclcpp::Publisher<sensor_msgs::msg::Imu>::SharedPtr
+    imu_publisher;
+
+  rclcpp::Subscription<vectornav_msgs::msg::CommonGroup>::SharedPtr vectornav_subscriber;
+
+  void VectornavCallback(const vectornav_msgs::msg::CommonGroup & msg);
+
+};
+
+} // namespace imu_parser
+
+#endif
diff --git a/urc_platform/package.xml b/urc_platform/package.xml
index faef788f..f8fb5cab 100644
--- a/urc_platform/package.xml
+++ b/urc_platform/package.xml
@@ -21,6 +21,7 @@
   <depend>usb_cam</depend>
   <depend>image_transport</depend>
   <depend>image_transport_plugins</depend>
+  <depend>vectornav_msgs</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
diff --git a/urc_platform/src/imu_parser.cpp b/urc_platform/src/imu_parser.cpp
new file mode 100644
index 00000000..d80eb1b4
--- /dev/null
+++ b/urc_platform/src/imu_parser.cpp
@@ -0,0 +1,32 @@
+#include "imu_parser.hpp"
+
+namespace imu_parser
+{
+
+int header = 0;
+IMUParser::IMUParser(const rclcpp::NodeOptions & options)
+: rclcpp::Node("imu_parser", options)
+{
+    vectornav_subscriber = create_subscription<vectornav_msgs::msg::CommonGroup>(
+    "/vectornav/raw/common", rclcpp::SystemDefaultsQoS(),
+    [this](const vectornav_msgs::msg::CommonGroup msg) {VectornavCallback(msg);});
+
+    imu_publisher = create_publisher<sensor_msgs::msg::Imu>(
+    "/imu", rclcpp::SystemDefaultsQoS());
+}
+
+void IMUParser::VectornavCallback(const vectornav_msgs::msg::CommonGroup & msg)
+{
+    sensor_msgs::msg::Imu result;
+    // result.header.seq = header++;
+    result.header.frame_id = std::to_string(header);
+    result.orientation.x = msg.quaternion.x;
+    result.orientation.y = msg.quaternion.y;
+    result.orientation.z = msg.quaternion.z;
+    result.orientation.w = msg.quaternion.w;
+    imu_publisher->publish(result);
+}
+
+} // namespace orchestrator
+
+RCLCPP_COMPONENTS_REGISTER_NODE(imu_parser::IMUParser)