robot_localization - using odometry and gps - get weird data

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Hello there,

I'm having trouble with the robot_localization package. At first I had odometry, IMU and GPS, but the IMU data got disturbed by a magnetic field of our robot. So I have to use only odometry and GPS for this approach since I can not make any new measurements and have to evaluate what I can from this data. So, I want to fuse odometry and GPS. I am using the Dual-EKF-Node example. I will give all information needed here: As there is no usable IMU-Data, I have to use the wait-for-datum-mode and give a datum in the config-file.

Launch-File:

<launch>
  <rosparam command="load" file="$(find bike_localization)/config/odom_gps.yaml" />

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

  <node pkg="robot_localization" type="ekf_localization_node" name="ekf_state_estimate_map" clear_params="true">
    <remap from="odometry/filtered" to="odometry/filtered_map"/>
  </node>

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

</launch>

Config: odom_gps.yaml

ekf_state_estimate_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: /odom_can
  odom0_config: [false, false, false,
                 false, false, false,
                 true,  true,  false,
                 false, false, false,
                 false, false, false]
  odom0_queue_size: 10
  odom0_nodelay: true
  odom0_differential: false
  odom0_relative: false

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

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

  odom0: /odom_can
  odom0_config: [false, false, false,
                 false, false, false,
                 true,  true,  false,
                 false, false, false,
                 false, false, false]
  odom0_queue_size: 10
  odom0_nodelay: true
  odom0_differential: false
  odom0_relative: true

  odom1: odometry/gps
  odom1_config: [true,  true,  false,
                 false, false, false,
                 false , false, false,
                 false, false, false,
                 false, false, false]
  odom1_queue_size: 10
  odom1_nodelay: false
  odom1_differential: false
  odom1_relative: false

  use_control: false

navsat_transform:
  frequency: 30
  delay: 2.0
  magnetic_declination_radians: 3.55641
  #yaw_offset: 1.570796327
  zero_altitude: true
  broadcast_utm_transform: false
  publish_filtered_gps: true
  use_odometry_yaw: false       # I tried true, too
  wait_for_datum: true
  datum: [XXXXX, YYYYY, -1.5707, map, base_link]    # we start facing south, 0 is facing east, so -pi/2 is facing south, tried other values, get the same output 
# For the actual run, real gps data is used

Now, this ist, what one of my odometry-messages look like. The odometry is facing X:

header: 
  seq: 113
  stamp: 
    secs: 1559130292
    nsecs:  62068063
  frame_id: "odom"
child_frame_id: "base_link"
pose: 
  pose: 
    position: 
      x: 0.281387492407
      y: 0.0023472056171
      z: 0.0
    orientation: 
      x: 0.0
      y: 0.0
      z: 0.0118238048699
      w: 0.999930096376
  covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
twist: 
  twist: 
    linear: 
      x: 0.440455263089
      y: 0.00978800793434
      z: 0.0
    angular: 
      x ...