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You probably will need to communicate with this board with a serial port, so I guess it will be better to use only one node. You can read the serial port with only one process, and it will allow you to do the "fusion" more easily. If you need to publish that raw data to ROS, some of this information have messages implemented:

Ultrasonic data: http://docs.ros.org/melodic/api/sensor_msgs/html/msg/Range.html
GPS: http://docs.ros.org/api/geographic_msgs/html/msg/GeoPoint.html
IMU: http://docs.ros.org/melodic/api/sensor_msgs/html/msg/Imu.html

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