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ROS package that publishes the MPU-9255 data into a Topic used in Raspberry PI 3

I’ve been working with a raspberry pi 3 and with an IMU MPU-9255. It works with ROS kinetic.
The package allows to publish the data of the IMU, uses complementary filter to reduce noise and allows to store the data in a .bag file.
Now I am working to integrate the offset data of the sensor before publishing on the topic and then get the orientation angles.

ROS MPU9255 Node
C++ ROS node wrapper for the mpu9255 gyroscope / accelerometer/magnetometer.
Reads and publish accelerometer, gyroscopic and magnetic data.

More information and suggestions:

Is this appicable for the MPU6050?