It is possible to control a Zumo 32U4 Robot and all of its sensors from a Raspberry Pi. We do not have any examples made exactly for that, but the examples in our Raspberry Pi slave library for Arduino for both the A-Star Robot Controller and Romi should be fairly similar to what you would need to do with your code. Those libraries use I2C for communicate between the RPi and ATmega32U4.
Also, we do not have any specific provisions on the Zumo for physically mounting a Raspberry Pi.
More generally, if you are new to robotics, I recommend getting a Zumo and spending some time getting familiar with it and programming it before trying to add something like a Raspberry Pi. Then you might try out just the RPi with no Zumo, and once you are comfortable with both those separately, you can put them together.