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robot_pose_ekf produces a PoseWithCovarianceStamped message. This is due to the fact that robot_pose_ekf does not include linear or angular velocities in its state estimate; it only estimates the pose (x, y, z, roll, pitch, yaw) of the robot. You should change your callbacks to accept PoseWithCovarianceStamped messages.

If you need an Odometry message, though, I would encourage you to try the robot_localization package.

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