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To just see the IMU frame, you can use the IMU plugin in Rviz. Or rostopic echo imu/data to see the raw data.

BUT I see you are using GPS, which from my experience is pretty tough to have working together in an EKF. Test just VO and IMU together, get that working correctly, then try to add GPS. Also, look into the use of dual ekf when fusing GPS data in an EKF.

Keep in mind your IMU needs to have it's orientation absolute to earth, or 0 facing east for it to work correctly in navsat_transform_node.