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Please post a sample input message for each input topic. Also, you seem to have the same topic for odom0 and odom1, but there appears to be a typo in the second one (/car/odometro). Also, you have differential mode turn on for odom0, yet you are only fusing velocity data. Differential mode only applies to pose data. Finally, I'm not quite sure what you're saying the trouble is. If you only fuse yaw velocity, then I would expect the yaw error to grow every time you turn.

EDIT: I'm not sure that my quote from the other question and what I told you are inconsistent. In your question, you remarked

I have an error with the robot heading, which it is cumulative after each turn in the scene

I assumed you meant heading (yaw) variance. Since you are not measuring yaw directly, I was explaining why the variance would grow.

Also, in your /car/odometro topic, you have the frame_id set to odo (note the missing 'm'). The filter is going to ignore that message unless you provide a transform from odo->odom.