diff --git a/clearpath_sensors/config/phidgets_spatial.yaml b/clearpath_sensors/config/phidgets_spatial.yaml
new file mode 100644
index 0000000..4132b89
--- /dev/null
+++ b/clearpath_sensors/config/phidgets_spatial.yaml
@@ -0,0 +1,22 @@
+phidgets_spatial:
+  ros__parameters:
+    # Communication
+    serial: -1
+    hub_port: 0
+    # ROS Message
+    frame_id: imu_link
+    publish_rate: 0.0
+    # Timing
+    time_resynchronization_interval_ms: 5000
+    data_interval_ms: 20
+    callback_delta_epsilon_ms: 1
+    # Algorithm
+    use_orientation: False
+    spatial_algorithm: ahrs
+    ahrs_angular_velocity_threshold: 1.0
+    ahrs_angular_velocity_delta_threshold: 0.1
+    ahrs_acceleration_threshold: 0.1
+    ahrs_mag_time: 10.0
+    ahrs_accel_time: 10.0
+    ahrs_bias_time: 1.25
+
diff --git a/clearpath_sensors/launch/phidgets_spatial.launch.py b/clearpath_sensors/launch/phidgets_spatial.launch.py
new file mode 100644
index 0000000..9342876
--- /dev/null
+++ b/clearpath_sensors/launch/phidgets_spatial.launch.py
@@ -0,0 +1,76 @@
+# Software License Agreement (BSD)
+#
+# @author    Luis Camero <lcamero@clearpathrobotics.com>
+# @copyright (c) 2024, Clearpath Robotics, Inc., All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions are met:
+# * Redistributions of source code must retain the above copyright notice,
+#   this list of conditions and the following disclaimer.
+# * Redistributions in binary form must reproduce the above copyright notice,
+#   this list of conditions and the following disclaimer in the documentation
+#   and/or other materials provided with the distribution.
+# * Neither the name of Clearpath Robotics nor the names of its contributors
+#   may be used to endorse or promote products derived from this software
+#   without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
+
+from launch_ros.actions import ComposableNodeContainer
+from launch_ros.descriptions import ComposableNode
+from launch_ros.substitutions import FindPackageShare
+
+
+def generate_launch_description():
+    parameters = LaunchConfiguration('parameters')
+    namespace = LaunchConfiguration('namespace')
+
+    arg_namespace = DeclareLaunchArgument(
+        'namespace',
+        default_value='')
+
+    arg_parameters = DeclareLaunchArgument(
+        'parameters',
+        default_value=PathJoinSubstitution([
+          FindPackageShare('clearpath_sensors'),
+          'config',
+          'phidgets_spatial.yaml'
+        ]))
+
+    phidgets_node = ComposableNode(
+      package='phidgets_spatial',
+      plugin='phidgets::SpatialRosI',
+      name='phidgets_spatial',
+      namespace=namespace,
+      parameters=[parameters]
+    )
+
+    imu_processing_container = ComposableNodeContainer(
+        name='imu_processing_container',
+        namespace=namespace,
+        package='rclcpp_components',
+        executable='component_container',
+        composable_node_descriptions=[
+            phidgets_node,
+        ],
+        output='screen',
+    )
+
+    ld = LaunchDescription()
+    ld.add_action(arg_namespace)
+    ld.add_action(arg_parameters)
+    ld.add_action(imu_processing_container)
+    return ld
diff --git a/clearpath_sensors/package.xml b/clearpath_sensors/package.xml
index ceae9ef..2657e38 100644
--- a/clearpath_sensors/package.xml
+++ b/clearpath_sensors/package.xml
@@ -21,6 +21,7 @@
   <exec_depend>image_transport_plugins</exec_depend>
   <exec_depend>microstrain_inertial_driver</exec_depend>
   <exec_depend>nmea_navsat_driver</exec_depend>
+  <exec_depend>phidgets_spatial</exec_depend>
   <exec_depend>realsense2_camera</exec_depend>
   <exec_depend>spinnaker_camera_driver</exec_depend>
   <exec_depend>umx_driver</exec_depend>