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The undefined reference error means that it can't find the target library. If you haven't done it, you must add the command:

target_link_libraries(test_imu_results ${catkin_LIBRARIES})

Since the roscpp package is in the find_package command I think the problem should be something similar.

P.S.

If I'm not wrong the command catkin_make test_imu compiles all except test_imu package. To compile a single package you should use the command catkin_make --pkg <my_package_name>, but I never tried it.