diff -Naur ros-humble-microstrain-inertial-driver-3.0.1_org/microstrain_inertial_driver_common/include/microstrain_inertial_driver_common/services.h ros-humble-microstrain-inertial-driver-3.0.1/microstrain_inertial_driver_common/include/microstrain_inertial_driver_common/services.h
--- ros-humble-microstrain-inertial-driver-3.0.1_org/microstrain_inertial_driver_common/include/microstrain_inertial_driver_common/services.h	2023-02-11 05:19:58.000000000 +0800
+++ ros-humble-microstrain-inertial-driver-3.0.1/microstrain_inertial_driver_common/include/microstrain_inertial_driver_common/services.h	2023-10-21 17:04:27.000000000 +0800
@@ -172,7 +172,12 @@
    * \return Pointer to an initialized service
    */
   template<typename ServiceType>
-  typename RosServiceType<ServiceType>::SharedPtr configureService(const std::string& name, bool (Services::*callback)(typename ServiceType::Request&, typename ServiceType::Response&));
+  typename RosServiceType<ServiceType>::SharedPtr configureService(const std::string& name, bool (Services::*callback)(typename ServiceType::Request&, typename ServiceType::Response&))
+{
+  MICROSTRAIN_DEBUG(node_, "Configuring service %s", name.c_str());
+  return createService<ServiceType>(node_, name, callback, this);
+}
+
 
   /**
    * \brief Configures a MIP command dependent service. This service will only be configured if the device supports the command
@@ -184,7 +189,19 @@
    * \return Pointer to an initialized service, or nullptr if the device does not support the MipType
    */
   template<typename ServiceType, typename MipType, uint8_t DescriptorSet = MipType::DESCRIPTOR_SET>
-  typename RosServiceType<ServiceType>::SharedPtr configureService(const std::string& name, bool (Services::*callback)(typename ServiceType::Request&, typename ServiceType::Response&));
+  typename RosServiceType<ServiceType>::SharedPtr configureService(const std::string& name, bool (Services::*callback)(typename ServiceType::Request&, typename ServiceType::Response&))
+{
+  if (config_->mip_device_->supportsDescriptor(DescriptorSet, MipType::FIELD_DESCRIPTOR))
+  {
+    MICROSTRAIN_DEBUG(node_, "Configuring service %s to execute MIP command 0x%02x%02x", name.c_str(), DescriptorSet, MipType::FIELD_DESCRIPTOR);
+    return createService<ServiceType>(node_, name, callback, this);
+  }
+  else
+  {
+    MICROSTRAIN_DEBUG(node_, "Device does not support the %s service because the device does not support descriptor 0x%02x%02x", name.c_str(), DescriptorSet, MipType::FIELD_DESCRIPTOR);
+    return nullptr;
+  }
+}
 
   // Handles to the ROS node and the config
   RosNodeType* node_;
@@ -253,27 +270,8 @@
   RosServiceType<SetFilterSpeedLeverArmServiceMsg>::SharedPtr set_filter_speed_lever_arm_service_;
 };
 
-template<typename ServiceType>
-typename RosServiceType<ServiceType>::SharedPtr Services::configureService(const std::string& name, bool (Services::*callback)(typename ServiceType::Request&, typename ServiceType::Response&))
-{
-  MICROSTRAIN_DEBUG(node_, "Configuring service %s", name.c_str());
-  return createService<ServiceType>(node_, name, callback, this);
-}
 
-template<typename ServiceType, typename MipType, uint8_t DescriptorSet = MipType::DESCRIPTOR_SET>
-typename RosServiceType<ServiceType>::SharedPtr Services::configureService(const std::string& name, bool (Services::*callback)(typename ServiceType::Request&, typename ServiceType::Response&))
-{
-  if (config_->mip_device_->supportsDescriptor(DescriptorSet, MipType::FIELD_DESCRIPTOR))
-  {
-    MICROSTRAIN_DEBUG(node_, "Configuring service %s to execute MIP command 0x%02x%02x", name.c_str(), DescriptorSet, MipType::FIELD_DESCRIPTOR);
-    return createService<ServiceType>(node_, name, callback, this);
-  }
-  else
-  {
-    MICROSTRAIN_DEBUG(node_, "Device does not support the %s service because the device does not support descriptor 0x%02x%02x", name.c_str(), DescriptorSet, MipType::FIELD_DESCRIPTOR);
-    return nullptr;
-  }
-}
+
 
 }  // namespace microstrain