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HI, I have the same problem with robot_pose_ekf and i don't know why they dont solve this big issue!!

Currently i am trying to write a node for converting "msgs/PoseStamped msg" of robot_pose_ekf to "nav_msgs/Odometry message". in my case i faced 2 problems about covariances of odometry message and also twist part of odometry message.

I didnt implemented this node completely but as soon as its finished i will be post the results here!

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