Adding IMU+Encoders UKF sensor fusion to Localization method for Differential platform

[alepmalagon]

Hi guys, long time no see. I'm currently working with ROSIE in a differential platform. I just finished setup and pending some calibration issues that i'm procrastinating on, it works great.
Now, for starters, I want to expand the localization method, from using encoders to a full Unscented Kalman Filter using an IMU+encoders. That fusion algorithm depends on the model of the robot, so its tied to the differential platform for the time being. I'm having 2 architecture issues I want your insight on.

1. I need a new thread to sample the IMU at 125 Hz and dead reckon the measurements. What's the best place/way to add this puppy to the system? I saw that you have a /scripts folder with some Ultrasonics readings there. Is that a good place? Any suggestion about how should I share the variables with the main thread?
2. I need to tie the localization method to the differential platform, is it a good strategy to create a new class in robot/Localizer/Method?
   Thanks for all the great work!