Compass Data on ROS topic

Hi ,
I recently bought beaglebone blue for my project, I want to fetch compass data from beagle bone blue on my ROS topic.
And i also want to Calibrate the compass data.
Please let me know how to do it.

On Sat, 15 Dec 2018 12:05:06 -0800 (PST),
atulsingh15743@gmail.com declaimed the
following:

Hi ,
I recently bought beaglebone blue for my project, I want to fetch compass
data from beagle bone blue on my ROS topic.
And i also want to Calibrate the compass data.
Please let me know how to do it.

https://www.invensense.com/download-pdf/mpu-9250-datasheet/