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Assuming your second source is giving he change in pose, which is velocity, you can use the odom option in the robot_localization package along with your IMU source.

This should work:

odom0_config: [false, false, false, 
              false, false, false,
              true, true, false,
              false, false, true,
              false, false, false]

odom0_differential: false
odom0_queue_size: 2
odom0_relative: true

imu0: /imu/data

imu0_config: [false, false, false,
              false, false, true,
              false, false, false,
              false, false, true,
              true, false, false]

imu0_differential: false
imu0_queue_size: 5
imu0_relative: true