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Hello looks like you want to fuse imu and gps location data, for this you can do something liek this:
imu0: /imu/data
imu0_config: [false, false, false,
false, false, false,
false, false, false,
false, false, true,
false, false, false]
imu0_differential: true
imu0_relative: true
pose0: hedge_pose # Hedgehog!
pose0_config: [true, true, false,
false, false, false,
false, false, false,
false, false, false,
false, false, false]
pose0_rejection_threshold: 3
As of robot_localization package, it supports both the global and local localiztion fully you only need to understand the parametes propely.