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Hello, here is the example ekf config file which you can use to adjust the sensor parameter so it will work:

frequency: 10

two_d_mode: true

odom_frame: odom
base_link_frame: base_footprint
world_frame: odom
publish_tf: true

odom0: base_controller/odom
odom0_config: [false, false, false,
               false, false, false,
               true, false, false,
               false, false, false,
               false, false, false]

odom0_differential: true

imu0: /imu/data_raw
imu0_config: [false, false, false,
              false, false, true,
              false, false, false,
              false, false, false,
              false, false, false]

imu0_differential: true
imu0_relative: true

As i saw your confi, you need to make some sensor parameter to false value. You can play for that yourself.