diff --git a/src/robot/imu_printer_py/imu_printer_py/__init__.py b/src/robot/imu_printer_py/imu_printer_py/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/src/robot/imu_printer_py/imu_printer_py/imu_printer.py b/src/robot/imu_printer_py/imu_printer_py/imu_printer.py
new file mode 100755
index 0000000..d5d4729
--- /dev/null
+++ b/src/robot/imu_printer_py/imu_printer_py/imu_printer.py
@@ -0,0 +1,37 @@
+#!/usr/bin/env python3
+import rclpy
+from rclpy.node import Node
+from sensor_msgs.msg import Imu
+from std_msgs.msg import Float32       
+
+class ImuPrinter(Node):
+    def __init__(self):
+        super().__init__('imu_printer')
+
+        self.create_subscription(Imu, '/imu', self.imu_cb, 10)
+
+        self.throttle_pub = self.create_publisher(Float32,'/autodrive/f1tenth_1/throttle_command', 10)
+        self.timer = self.create_timer(0.1, self.publish_throttle)
+
+    # ————————————————————————————
+    def imu_cb(self, msg: Imu):
+        la = msg.linear_acceleration
+        self.get_logger().debug(
+            f'IMU lin_acc = ({la.x:.2f}, {la.y:.2f}, {la.z:.2f}) [m/s²]'
+        )
+
+    # ————————————————————————————
+    def publish_throttle(self):
+        throttle = Float32()
+        throttle.data = 0.5             
+        self.throttle_pub.publish(throttle)
+
+def main(args=None):
+    rclpy.init(args=args)
+    node = ImuPrinter()
+    rclpy.spin(node)
+    node.destroy_node()
+    rclpy.shutdown()
+
+if __name__ == '__main__':
+    main()
diff --git a/src/robot/imu_printer_py/package.xml b/src/robot/imu_printer_py/package.xml
new file mode 100644
index 0000000..a997dd5
--- /dev/null
+++ b/src/robot/imu_printer_py/package.xml
@@ -0,0 +1,22 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>imu_printer_py</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="danielxie0713@gmail.com">bolty</maintainer>
+  <license>TODO: License declaration</license>
+
+  <depend>rclpy</depend>
+  <depend>sensor_msgs</depend>
+  <depend>std_msgs</depend>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>
diff --git a/src/robot/imu_printer_py/resource/imu_printer_py b/src/robot/imu_printer_py/resource/imu_printer_py
new file mode 100644
index 0000000..e69de29
diff --git a/src/robot/imu_printer_py/setup.cfg b/src/robot/imu_printer_py/setup.cfg
new file mode 100644
index 0000000..72b94cb
--- /dev/null
+++ b/src/robot/imu_printer_py/setup.cfg
@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/imu_printer_py
+[install]
+install_scripts=$base/lib/imu_printer_py
diff --git a/src/robot/imu_printer_py/setup.py b/src/robot/imu_printer_py/setup.py
new file mode 100644
index 0000000..cb6151c
--- /dev/null
+++ b/src/robot/imu_printer_py/setup.py
@@ -0,0 +1,27 @@
+from setuptools import find_packages, setup
+
+package_name = 'imu_printer_py'
+
+setup(
+    name=package_name,
+    version='0.0.0',
+    packages=find_packages(exclude=['test']),
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='bolty',
+    maintainer_email='danielxie0713@gmail.com',
+    description='TODO: Package description',
+    license='TODO: License declaration',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+            'imu_printer = imu_printer_py.imu_printer:main',
+        ],
+    },
+    
+)
diff --git a/src/robot/imu_printer_py/test/test_copyright.py b/src/robot/imu_printer_py/test/test_copyright.py
new file mode 100644
index 0000000..97a3919
--- /dev/null
+++ b/src/robot/imu_printer_py/test/test_copyright.py
@@ -0,0 +1,25 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_copyright.main import main
+import pytest
+
+
+# Remove the `skip` decorator once the source file(s) have a copyright header
+@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
+@pytest.mark.copyright
+@pytest.mark.linter
+def test_copyright():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found errors'
diff --git a/src/robot/imu_printer_py/test/test_flake8.py b/src/robot/imu_printer_py/test/test_flake8.py
new file mode 100644
index 0000000..27ee107
--- /dev/null
+++ b/src/robot/imu_printer_py/test/test_flake8.py
@@ -0,0 +1,25 @@
+# Copyright 2017 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_flake8.main import main_with_errors
+import pytest
+
+
+@pytest.mark.flake8
+@pytest.mark.linter
+def test_flake8():
+    rc, errors = main_with_errors(argv=[])
+    assert rc == 0, \
+        'Found %d code style errors / warnings:\n' % len(errors) + \
+        '\n'.join(errors)
diff --git a/src/robot/imu_printer_py/test/test_pep257.py b/src/robot/imu_printer_py/test/test_pep257.py
new file mode 100644
index 0000000..b234a38
--- /dev/null
+++ b/src/robot/imu_printer_py/test/test_pep257.py
@@ -0,0 +1,23 @@
+# Copyright 2015 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from ament_pep257.main import main
+import pytest
+
+
+@pytest.mark.linter
+@pytest.mark.pep257
+def test_pep257():
+    rc = main(argv=['.', 'test'])
+    assert rc == 0, 'Found code style errors / warnings'