Update to 2024.5.0.3

swervelib/imu/Pigeon2Swerve.java

@@ -138,6 +138,14 @@ public class Pigeon2Swerve extends SwerveIMU
                                          zAcc.waitForUpdate(STATUS_TIMEOUT_SECONDS).getValue()).times(9.81 / 16384.0));
   }
 
+  /**
+   * Fetch the rotation rate from the IMU in degrees per second. If rotation rate isn't supported returns empty.
+   * @return {@link Double} of the rotation rate as an {@link Optional}.
+   */
+  public double getRate() {
+    return imu.getRate();
+  }
+
   /**
    * Get the instantiated IMU object.
    *