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In the robot_localization yaml config file you can specify the "use_relative" parameter for your pose sensor (e.g., pose0_relative: true). This will make it fuse all the measurements from that sensor relative to the initial measurement. For example, if your first and second pose0 measurements were (4,3) and (5,1), it would fuse these as (0,0) and (1,-2).

On another note - be careful with fusing absolute position measurements from multiple sources. You might consider only fusing velocity measurements from your odometry, or using the r_l "use_differential" parameter for your odometry.