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: https://github.com/mdleiton/MPU9255