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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.