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In the original problem I was trying to use the DMP of the MPU9150 in order to do the calculations to obtain the Yaw, Pitch and Roll directly from the MPU. However it seemed like the rosserial communication was messing up the DMP configuration and I wasn't able to make the DMP configuration to work once I tried to add both a subscriber and a publisher to the node.

The work-around I ended up using is to simply get the raw data from the IMU (magnetometer, gyro and accelerometer) and publish it to the desired topic. Then I could add a subscriber and I would still be able to get the raw data from the IMU. This raw data is then processed by a node on the PC and outputs the desired information to another topic.

In the original problem I was trying to use the DMP of the MPU9150 in order to do the calculations to obtain the Yaw, Pitch and Roll directly from the MPU. However it seemed like the rosserial communication was messing up the DMP configuration and I wasn't able to make the DMP configuration to work once I tried to add both a subscriber and a publisher to the node.

The work-around I ended up using is to simply get the raw data from the IMU (magnetometer, gyro and accelerometer) and publish it to the desired topic. Then I could add a subscriber and I would still be able to get the raw data from the IMU. This raw data is then processed by a node on the PC and outputs the desired information to another topic.