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I'd recommend to ditch the Arduino and connect the IMU and motor controllers directly to your RPI. This way you don't have to implement arduino<->ROS communication (rosserial), so less work, and a cheaper setup. You can utilize ROS to handle control of motors and transmit IMU data, this wouldn't be a problem to do with Arduino but now you can keep everything inside ros nodes (easier to manage, easier to debug).

But keep in mind that there is no 'should'. There are also a lot of posts on this forum about arduino-ros communication and implementation.