try the following configuration:

• Raspberry Pi using Ubuntu Mate and ROS (i.E. https://www.intorobotics.com/how-to-install-ros-kinetic-on-raspberry-pi-3-ubuntu-mate/)
• Connect IMUs (leaning and steering (optional) angle): we have two BNO055 + serial-USB converter. (https://learn.adafruit.com/bno055-absolute-orientation-sensor-with-raspberry-pi-and-beaglebone-black/overview)
• Install a nano router or access point to enable wireless access to raspberry (i.E. https://www.tp-link.com/us/products/details/cat-9_TL-WR802N.html)
• We use two GPS receivers connected using serial-USB converter to raspberry.
• We use an arduino to read pulses from wheel encoder and altitude from barometer. Then, use rosserial (http://wiki.ros.org/rosserial_arduino) to publish data using USB connection.
  Finally, add a power bank and be patient by debugging. : )

https://github.com/francisc0garcia/autonomous_bicycle