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I also played around with the mpu6050 connected to an arduino and wrote myself a small ROS node which connects to an example script from i2cdevlib. It only reads the IMUs orientation (and not any accelerations). You can find this node here:

https://github.com/fsteinhardt/mpu6050_serial_to_imu

I also played around with the mpu6050 connected to an arduino and wrote myself a small ROS node which connects to an example script from i2cdevlib. It only reads the IMUs orientation (and not any accelerations). You can find this node here:

https://github.com/fsteinhardt/mpu6050_serial_to_imu

Updated: now it reads the orientation, the accelerations and the rotational velocities .