Looks like you're using java...
Last you I ported the Adafruit BNO055 Arduino library to Java and released the sources.
There's example code and lots of instructions in the repo:
https://github.com/jcorcoran/BNO055_FRC
It's tested code and was used by a number of team last season.
Communications with the sensor are performed in a separate thread from main robot comms, so you won't affect communications with your motor controllers or the FMS.
This will let you wire the BNO055 directly to the roboRIO. Check the repo for wiring instructions.