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What you are trying to do is not really supported in the robot_pose_ekf. According to the documentation for the imu input to the robot_pose_ekf: "The Roll and Pitch angles are interpreted as absolute angles (because an IMU sensor has a gravity reference), and the Yaw angle is interpreted as a relative angle". What you are trying to do is to provide a Yaw angle from a compass, which is an absolute measurement, not a relative measurement. Although the robot_pose_ekf can give you a reasonable result, you will still see drift on your robot's Yaw angle because of this.