Hi, I have a robot with wheel encoders, RTK GPS and an IMU (with magnetometer). I run two EKF instances, the first one fuse encoders (velocity, not position), Yaw and Z axis angular velocity from the IMU. The second one adds the odometrygps from navsattransform node The problem I'm facing is that some part of the filter seems to not work properly or at least it's not well tuned. As you can see in the video it's likely the odom->base_link is working faster than map->odom. I uploaded ekf parameters files, bag file and a video showing the problem here. I need some advice on what parameter needs to be tuned to correct this problem.

Thank and best regards