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I can't say for certain what's wrong unless you post sample IMU messages (please do), but I note the following:

• Is your IMU topic really imu/imu?
• You have every single variable set to true for your IMU configuration, but I'm guessing it doesn't actually provide position (the first three true variables) or linear velocity (the seventh through the ninth true variables).
• Get rid off all of the _threshold parameters. Those are advanced parameters that should only be used once you have the rest of the system functioning.
• It won't make any difference, but you still have robot_pose_ekf parameters in your launch file.
• Finally, I have never seen IMU-only state estimation produce anything usable. Double-integration of linear acceleration is going to make your life unpleasant, unless your IMU (or you) are actively handling biases.