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Looks like you forgot to set a frame_id when you recorded your IMU data. If you look at the rviz "Global Options" (top left) you see the "Fixed Frame". This is the fixed frame used by rviz and all data you try to visualize has to be transformable into this fixed frame (i.e. has to be connected in the tf tree).
I never tried this, but maybe you can make your IMU data display work by setting the fixed frame to be a empty string in rviz. If not, you'll likely want to process your bagfile data to add the missing frame_id. You can then set the the rviz "Fixed Frame" to the same frame_id and have your data visualized.
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