ROS driver with imu + magnetometer fusion for the Raspberry Pi in use with the MPU9250. It calibrates all sensors during the start and starts publishing all filtered states once the calibration is finished.
This ROS Package is tested with the Raspberry Pi4 and ROS noetic
https://github.com/Intelligent-Vehicle-Perception/MPU-9250-Sensors-Data-Collect
roslaunch mpu9250-driver mpu9250.launch