Robot localization does not publish data

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Hi,

I have Odom data and 9DOF IMU data, and im trying to use Robot localization. Both of the data are being published.

sample imu data:

header: 
  seq: 472
  stamp: 
    secs: 1684922348
    nsecs: 557153940
  frame_id: "base_imu_link"
orientation: 
  x: -0.0986390100467
  y: -0.0272804708582
  z: 0.886936147054
  w: 0.450411359377
orientation_covariance: [0.0025, 0.0, 0.0, 0.0, 0.0025, 0.0, 0.0, 0.0, 0.0025]
angular_velocity: 
  x: -0.03
  y: 0.04
  z: 0.0
angular_velocity_covariance: [0.02, 0.0, 0.0, 0.0, 0.02, 0.0, 0.0, 0.0, 0.02]
linear_acceleration: 
  x: -1.33376921875
  y: -1.17672
  z: 8.70780460937
linear_acceleration_covariance: [0.04, 0.0, 0.0, 0.0, 0.04, 0.0, 0.0, 0.0, 0.04]

sample odom data:

header: 
  seq: 360
  stamp: 

    secs: 1684922445
    nsecs: 158451080
  frame_id: "odom"
child_frame_id: "base_link"
pose: 
  pose: 
    position: 
      x: 1.34112676051
          y: 2.39530612982
      z: 0.0
    orientation: 
      x: 0.0
      y: 0.0
      z: 0.813415504789
      w: 0.581683089464
  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: 0.0
      y: 0.0
      z: 0.0
    angular: 
      x: 0.0
      y: 0.0
      z: 0.0
  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]

The following is my config file:

### ekf config file ###
ekf_filter_node:
    ros__parameters:

        frequency: 30.0
        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: file.txt
    publish_tf: true
        publish_acceleration: false
        reset_on_time_jump: true
        odom_frame: odom                 # Defaults to "odom" if unspecified
        base_link_frame: base_link  # 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,
              false, false, false,
              false, false, true]

        odom0_queue_size: 10


    odom0_nodelay: false


    odom0_differential: false


    odom0_relative: false


    odom0_pose_rejection_threshold: 5.0
    odom0_twist_rejection_threshold: 1.0

    imu0: /imu
    imu0_config: [false, false, false,
          false, false, false,
          true,  true,  true,
          false, false, false] 

    imu0_nodelay: false
    imu0_differential: false
    imu0_relative: true
    imu0_queue_size: 10
    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: true



    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 ...