IMU models with orientation in ROS

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Hi to all,

I'm looking for a IMU sensors which can output orientation data within the /imu/data topic. I'm currently using a XSENS MTi-10 IMU sensor but it doesn't output the orientation data and this is a problem for me. (It only output a magnetic vector on /magnetic topic)

I did a mistake and I've spent more than 1000 USD for this sensor which is not useful for me.

Now, i'm looking for a cheaper IMU sensor (with compass) which can output orientation data, but I would like to be sure that I will get the correct one this time!

I know I need a sensor with ENU standard so I can easily use it with robot_localization package since I would like to integrate GPS data.

Can you suggest me some sensors, please?