This is what I used: 
package main
import (
    "math/big"
    "github.com/ethereum/go-ethereum/common/hexutil"
    "github.com/ethereum/go-ethereum/accounts/abi"
    "log"
    "github.com/ethereum/go-ethereum/common"
    "github.com/ethereum/go-ethereum/crypto/sha3"
)
func main() {
    uint256Ty, _ := abi.NewType("uint256")
    bytes32Ty, _ := abi.NewType("bytes32")
    addressTy, _ := abi.NewType("address")
    arguments := abi.Arguments{
        {
            Type: addressTy,
        },
        {
            Type: bytes32Ty,
        },
        {
            Type: uint256Ty,
        },
    }
    bytes, _ := arguments.Pack(
        common.HexToAddress("0x0000000000000000000000000000000000000000"),
        [32]byte{'I','D','1'},
        big.NewInt(42),
    )
    var buf []byte
    hash := sha3.NewKeccak256()
    hash.Write(bytes)
    buf = hash.Sum(buf)
    log.Println(hexutil.Encode(buf))
    // output:
    // 0x1f214438d7c061ad56f98540db9a082d372df1ba9a3c96367f0103aa16c2fe9a
}