robot_localization: odometry/filtered going to zero when using IMU

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Hello,

I am trying to use the ekf_localization_node to fuse odom and IMU data with a simulated robot in gazebo. In my simulation the robot starts in a position different from (0,0,0), something like (18, 2, 0). Therefore, the /odom topic is also (18, 2, 0) when the simulation starts. When using the ekf_localization node if I use only odom the filtered odom seems to be working, but when I add the IMU the odom/filtered starts at (0,0,0) which is wrong in this case, how can I set up the IMU to make this work?

The ekf params that I am using:

frequency: 30

silent_tf_failure: false
sensor_timeout: 0.1

two_d_mode: true

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: false

map_frame: map              # Defaults to "map" if unspecified
odom_frame: odom            # Defaults to "odom" if unspecified
base_link_frame: base_footprint  # 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,
               true, true, false,
               false, false, true,
               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_pub
imu0_config: [false, false, false,
              true,  true,  true,
              false, false, false,
              true,  true,  true,
              true,  true,  false]
imu0_nodelay: false
imu0_differential: false
imu0_relative: false
imu0_queue_size: 5
imu0_pose_rejection_threshold: 0.8                 # Note the difference in parameter names
imu0_twist_rejection_threshold: 0.8                #
imu0_linear_acceleration_rejection_threshold: 0.8  #

imu0_remove_gravitational_acceleration: false

use_control: true
stamped_control: false
control_timeout: 0.2
control_config: [true, false, false, false, false, true]
acceleration_limits: [1.3, 0.0, 0.0, 0.0, 0.0, 3.4]
deceleration_limits: [1.3, 0.0, 0.0, 0.0, 0.0, 4.5]
acceleration_gains: [0.8, 0.0, 0.0, 0.0, 0.0, 0.9]
deceleration_gains: [1.0, 0.0, 0.0, 0.0, 0.0, 1.0]

process_noise_covariance: [0.05, 0,    0,    0,    0,    0,    0,     0,     0,    0,    0,    0,    0,    0,    0,
                           0,    0.05, 0,    0,    0,    0,    0,     0,     0,    0,    0,    0,    0,    0,    0,
                           0,    0,    0.06, 0,    0,    0,    0,     0,     0,    0,    0,    0,    0,    0,    0,
                           0,    0,    0,    0.03, 0,    0,    0,     0,     0,    0,    0,    0,    0,    0,    0,
                           0,    0,    0,    0,    0.03, 0,    0,     0,     0,    0,    0,    0,    0,    0,    0,
                           0,    0,    0,    0,    0,    0.06, 0,     0,     0,    0,    0,    0,    0,    0,    0,
                           0,    0,    0,    0,    0,    0,    0.025, 0,     0,    0,    0,    0,    0,    0,    0,
                           0,    0,    0,    0,    0,    0,    0,     0.025, 0,    0,    0,    0,    0,    0,    0,
                           0,    0,    0,    0,    0,    0,    0,     0,     0.04, 0,    0,    0,    0,    0,    0,
                           0,    0,    0,    0,    0,    0,    0,     0,     0,    0.01, 0,    0,    0,    0,    0,
                           0,    0,    0,    0,    0,    0,    0,     0,     0,    0,    0.01, 0,    0,    0,    0,
                           0,    0,    0,    0,    0,    0,    0,     0,     0,    0,    0,    0.02, 0,    0,    0,
                           0 ...