The following drivers implement the IMU API:
MicroStrain 3DM-GX2 IMU: supported in the microstrain_3dmgx2_imu package.
PhidgetsSpatial devices (3/3/3 Basic/High Resolution): supported by the phidgets_imu package.
Other IMU drivers can be found here:
Driver for Xsens MTx/MTi/MTi-G: xsens_driver
Driver for LP-RESEARCH IMU sensors: lpms_imu
IMU Usage Examples
The robot_pose_ekf package combines pose information coming from an IMU and other sensors to determine the pose of the robot.