Most self-driving cars use integrated modules for GPS, IMU, and wheel encoders for accurate position prediction. In this section, we will look at some popular IMU modules that you can use if you want to use IMU alone.

I'll point you to a few links for ROS drivers used to interface with it. One of the popular IMUs is the MicroStrain 3DM-GX2 (http://www.microstrain.com/inertial/3dm-gx2):

Here are the ROS drivers for this IMU series:

http://wiki.ros.org/microstrain_3dmgx2_imu

http://wiki.ros.org/microstrain_3dm_gx3_45

Other than that, there are IMUs from Phidget (http://wiki.ros.org/phidgets_imu) and popular IMUs such as InvenSense MPU 9250, 9150, and 6050 models (https://github.com/jeskesen/i2c_imu). Another IMU sensor series called MTi from Xsens and its drivers can be found at http://wiki.ros.org/xsens_driver.