I have questions about my params of robot_localization and how to apply robot_localization package with my rosbag files?

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Hi, I am trying to use robot_localization package to visualize the filtered odometry by fusing imu and wheel odometry

input topic : /imu/imu/

header: 
  seq: 2812
  stamp: 
    secs: 1590737078
    nsecs: 429834586
  frame_id: "base_link"
orientation: 
  x: 0.00146915100049
  y: 0.0164387021214
  z: -0.19132065773
  w: 0.981388866901
orientation_covariance: [-1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
angular_velocity: 
  x: 0.00119412853383
  y: 0.00179658900015
  z: 0.00330213177949
angular_velocity_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
linear_acceleration: 
  x: 0.341619036326
  y: 0.0339792784808
  z: -9.80399002013
linear_acceleration_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]

input topic : /odom

it is from two wheeled mobile robot (i have already checked odom by using rviz, and I think data is good enough to use, except yaw data. And that is why I want to fuse imu and odom by ekf)

header: 
  seq: 85678
  stamp: 
    secs: 1590998520
    nsecs: 384758470
  frame_id: "odom"
child_frame_id: "base_link"
pose: 
  pose: 
    position: 
      x: 104.361528568
      y: 127.617223402
      z: 0.0
    orientation: 
      x: 0.0
      y: 0.0
      z: 0.380863571354
      w: 0.924631245425
  covariance: [0.001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1000000.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1000000.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1000000.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1000.0]
twist: 
  twist: 
    linear: 
      x: 0.233254893439
      y: 0.227642595417
      z: 0.0
    angular: 
      x: 0.0
      y: 0.0
      z: 0.0823246265722
  covariance: [0.001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1000000.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1000000.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1000000.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1000.0]

what did i launch in robot_localization package is roslaunch robot_localization ekf_template.launch

i will show you how did i change params in ekf_template.yaml

frequency: 30

silent_tf_failure: false
sensor_timeout: 0.1
two_d_mode: false
transform_time_offset: 0.0
transform_timeout: 0.0
print_diagnostics: true
debug: false
debug_out_file: /path/to/debug/file.txt
publish_tf: true
publish_acceleration: true

map_frame: map              # Defaults to "map" if unspecified
odom_frame: odom            # Defaults to "odom" if unspecified
base_link_frame: base_link  # Defaults to "base_link" if unspecified
world_frame: odom           # Defaults to the value of odom_frame if unspecified

odom0: /odom/
odom0_config: [true,  true,  false,
               false, false, false,
               false, false, false,
               false, false, false,
               false, false, false]
odom0_queue_size: 2
odom0_nodelay: false
odom0_differential: false
odom0_relative: false
odom0_pose_rejection_threshold: 5
odom0_twist_rejection_threshold: 1

imu0: /imu/imu/
imu0_config: [false, false, false,
              true,  true,  true,
              false, false, false,
              true,  true ...