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This may be a hardware issue. Try publishing the topic yourself without the IMU and see if you can get the callback to execute. You can do this with the command line as seen in the wiki:

rostopic pub /mavros/imu/data sensor_msgs/Imu "header:
  seq: 0
  stamp: {secs: 0, nsecs: 0}
  frame_id: ''
orientation: {x: 0.0, y: 0.0, z: 0.0, w: 0.0}
orientation_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
angular_velocity: {x: 0.0, y: 0.0, z: 0.0}
angular_velocity_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
linear_acceleration: {x: 0.0, y: 0.0, z: 0.0}
linear_acceleration_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]"

Now, the easy way to do this is to type rostopic pub /mavros/imu/data sensor_msgs/Imu then hit the tab key twice and it'll fill in the rest for you. Just hit Enter and it'll publish this message for you.

Now, if your callback executes you'll that it may be a hardware issue versus something being wrong with your code.

This may be a hardware issue. Try publishing the topic yourself without the IMU and see if you can get the callback to execute. You can do this with the command line as seen in the wiki:

rostopic pub /mavros/imu/data sensor_msgs/Imu "header:
  seq: 0
  stamp: {secs: 0, nsecs: 0}
  frame_id: ''
orientation: {x: 0.0, y: 0.0, z: 0.0, w: 0.0}
orientation_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
angular_velocity: {x: 0.0, y: 0.0, z: 0.0}
angular_velocity_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
linear_acceleration: {x: 0.0, y: 0.0, z: 0.0}
linear_acceleration_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]"

Now, the easy way to do this is to type rostopic pub /mavros/imu/data sensor_msgs/Imu in the terminal then hit the tab key twice and it'll fill in the rest for you. Just Next, hit Enter and it'll publish this message for you.

Now, if If your callback executes you'll that it may be a hardware issue versus something being wrong with your code.

This may be a hardware issue. Try publishing the topic yourself without the IMU and see if you can get the callback to execute. You can do this with the command line as seen in the wiki:

rostopic pub /mavros/imu/data sensor_msgs/Imu "header:
  seq: 0
  stamp: {secs: 0, nsecs: 0}
  frame_id: ''
orientation: {x: 0.0, y: 0.0, z: 0.0, w: 0.0}
orientation_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
angular_velocity: {x: 0.0, y: 0.0, z: 0.0}
angular_velocity_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
linear_acceleration: {x: 0.0, y: 0.0, z: 0.0}
linear_acceleration_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]"

Now, the easy way to do this is to type rostopic pub /mavros/imu/data sensor_msgs/Imu in the terminal then hit the tab key twice and it'll fill in the rest for you. Next, hit Enter and it'll publish this message for you.

If your callback executes you'll that it may be a hardware issue versus something being wrong with your code.

This may be a hardware issue. Try publishing the topic yourself without the IMU and see if you can get the callback to execute. You can do this with the command line as seen in the wiki:

rostopic pub /mavros/imu/data sensor_msgs/Imu "header:
  seq: 0
  stamp: {secs: 0, nsecs: 0}
  frame_id: ''
orientation: {x: 0.0, y: 0.0, z: 0.0, w: 0.0}
orientation_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
angular_velocity: {x: 0.0, y: 0.0, z: 0.0}
angular_velocity_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
linear_acceleration: {x: 0.0, y: 0.0, z: 0.0}
linear_acceleration_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]"

Now, the easy way to do this is to type rostopic pub /mavros/imu/data sensor_msgs/Imu in the terminal then hit the tab key twice and it'll fill in the rest for you. Next, hit Enter and it'll publish this message for you.

If your callback executes you'll that it may be a hardware issue versus something being wrong with your code, or at least the callback portion of it. Although, if you're following the MAVROS PX4 ROS offboard tutorial you may be missing certain portions of code such as keeping the keeping the vehicle armed. If it doesn't receive any commands for a certain amount of time (faster than 2Hz) then

the commander will fall back to the last mode the vehicle was in before entering Offboard mode