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The drift really looks surprisingly high (something like 3°/min?); however, all IMUs drift, and without any external reference (magnetometer), you cannot correct it. And using the magnetometer indoors on a moving robot creates a different set of problems.
Did you try isolating whether the problem is drift from the device or a bug in imu_filter_madgwick? You could plot the yaw angles of the two sensor_msgs/Imu topics and compare.
Finally, are you using localization (amcl/slam_gmapping) at all? Since drift is unavoidable, you'll have to use it anyway at some point, and 3°/min seems like something that it should be able to deal with. Of course, it would still improve the output of localization if you could reduce the drift somehow.
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