Using the Localization Package using only the GPS and IMU (no output odometry/filtered message being echoed)

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Hi Everyone, I am currently working on the Localization package in order to get position and velocity data for my robot using only a GPS and IMU. Right now when I try to run the program, my odometry/filtered topic does not output any data. I assume it is because it is not inputting any data for the odometry topic. The following is our launch / parameters files and a sample output of our GPS and IMU data.

My questions are: 1. How do I map / configure my data to give me an accurate odometry output? Is there anything more inputs I need to add? 2. How do I get a velocity output using the localization package?

I am fairly new to ROS so any feedback would be helpful, thank you.

current rqt_graphhttp://imgur.com/a/b2Wdm

Hardware GPS: Sparkfun IMU: Razor 9dof

GPS Output Data:

header: 
seq: 37
stamp: 
secs: 1491283112
secs: 297769069
 frame_id: /gps
status: 
 status: 0
 service: 1
latitude: 21.382495
longitude: -157.92706
altitude: 69.0
position_covariance: [1.44, 0.0, 0.0, 0.0, 1.44, 0.0, 0.0, 0.0, 5.76]
position_covariance_type: 1

IMU output data:

header: 
seq: 2108
stamp: 
secs: 1491283316
nsecs: 151560068
 frame_id: base_imu_link
orientation: 
  x: 0.0896993330926
  y: 0.023179361013
  z: 0.266404467092
  w: 0.959398460901
orientation_covariance: [0.0025, 0.0, 0.0, 0.0, 0.0025, 0.0, 0.0, 0.0, 0.0025]
angular_velocity: 
  x: 15.9
  y: -0.61
  z: -4.1
angular_velocity_covariance: [0.02, 0.0, 0.0, 0.0, 0.02, 0.0, 0.0, 0.0, 0.02]

linear_acceleration: 
  x: -0.037921640625
  y: 1.83019796875
  z: 9.490369375
linear_acceleration_covariance: [0.04, 0.0, 0.0, 0.0, 0.04, 0.0, 0.0, 0.0, 0.04]

Launch File:

<launch>

 <rosparam command="load" file="$(find robot_localization)/params/dual_ekf_navsat_example.yaml" />

<node pkg="nmea_navsat_driver" type="nmea_serial_driver" name="navsat" respawn="true">
  <param name="port" value="/dev/ttyACM0"/>
  <param name="baud" value="4800"/>
</node>

<arg name="razor_config_file" default="$(find razor_imu_9dof)/config/razor.yaml"/>
  <node pkg="razor_imu_9dof" type="imu_node.py" name="imu_node" output="screen">
    <rosparam file="$(arg razor_config_file)" command="load"/>
  </node>

  <node pkg="robot_localization" type="ekf_localization_node" name="ekf_se_odom" clear_params="true"/>

  <node pkg="robot_localization" type="navsat_transform_node" name="navsat_transform" clear_params="true">
    <remap from="/imu/data" to="/imu" />
    <remap from="/gps/fix" to="/fix" />
    <remap from="odometry/filtered" to="odometry/filtered"/>
  </node>

</launch>

Parameters File:

ekf_se_odom:
  frequency: 30
  sensor_timeout: 0.1
  two_d_mode: true
  transform_time_offset: 0.0
  transform_timeout: 0.0
  print_diagnostics: true
  debug: false

  map_frame: map
  odom_frame: odom
  base_link_frame: base_link
  world_frame: odom

  odom0: odometry/gps
  odom0_config: [true, true, false,
                 false, false, false,
                 false, false, false,
                 false, false, false,
                 false, false, false]
  odom0_queue_size: 2
  odom0_nodelay: true
  odom0_differential: false
  odom0_relative: false

  imu0: imu
  imu0_config: [false, false, false,
                true,  true,  false,
                false, false, false,
                true,  true,  true,
                true,  true,  true]
  imu0_nodelay: false
  imu0_differential: false
  imu0_relative: false
  imu0_queue_size: 10
  imu0_remove_gravitational_acceleration: true

  use_control: false

  process_noise_covariance: [1e-3, 0,    0,    0,    0,    0,    0,     0,     0,    0,    0,    0,    0,    0,    0,
                             0,    1e-3, 0,    0,    0,    0,    0 ...