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I don't think robot_state_publisher is publishing the odom->base_footprint transform. That is likely being done by the Kobuki driver. A quick look at the source code shows that it's publishing that transform. There appears to be a publish_tf setting that lets you turn off broadcast of the odom->base_footprint transform. Set that to false, then make sure your world_frame is set to odom for ekf_localization_node and your base_link_frame is set to base_footprint. tf represents its transforms as a tree, so you can't have more than one parent for a given frame. You also don't want multiple nodes publishing the same transform.