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The robot_localization path diverges from the encoder path because the robot_localization path includes data from the IMU. The robot_localization path might actually be closer to the robot's true path than the encoder path. Generally, the odometry path generated by wheel encoders will diverge from a robot's true path by some amount, and the path generated from IMU measurements will diverge by some other amount. robot_localization merges the data from the encoders and the IMU, generating a path that, ideally, is closer to the true path than the encoder or IMU paths alone.