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This depends on the IMU board your using, what protocol it uses and if you can update its firmware or not. For example the Razor IMU ROS package uses a custom firmware on the board and a ROS node on the host computer together to publish the IMU data to ROS. Another option would be to use ROSSerial on the board so it publishes the IMU messages directly.

It looks like you're using an arduino derivative so the ROSSerial option would probably be the simplest method to use. There are somegood tutorials(http://wiki.ros.org/rosserial/Tutorials) you can use to get started. Is the IMU data you're receiving already calibrated or will the node need to do that as well?

Hope this gives you some pointers.