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The Bristol City goalkeeper, who also coaches at the Ashton Gate club as well as being third-choice keeper, has now been confirmed as a permanent member of Stephen Kenny's Under-21 staff.
The 32-year old has had an extensive Football League career with stints at Walsall, Colchester United, Watford and Plymouth Argyle.
The Dublin-born keeper, who was also capped at Republic of Ireland U-21 level, had his first international camp with the group in September where Ireland secured victories against Armenia and Sweden.
Gilmartin was also named as goalkeeper coach for the October camp with the games against Italy and Iceland, and he has admitted it is a fantastic honour. "It's a massively proud moment for me.
"I played for the Ireland U-21s when I was starting out at Walsall and now, to have the opportunity to coach the goalkeepers is perfect for me," said Gilmartin.
"We've got some fantastic talent coming through and it's been great to work with the likes of Caoimhin Kelleher, Gavin Bazunu and Conor Kearns during my time with the squad so far."
Gilmartin will link up with the squad this Sunday ahead of the trip to Armenia for the qualifier on Thursday, November 14 and the home game against Sweden on Tuesday, November 19.
