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Why don't you just ignore linear acceleration? Check this tutorial. In the config param of your imu in the launch file, you can set the variables related to orientation and angular velocity as true and the rest as false. So your config param for imu should look like this:

<rosparam param="imu0_config">[false, false, false, 
                                     true,  true,  true, 
                                     false, false, false, 
                                     true,  true,  true]</rosparam>