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So there are a lot of issues here:

  1. You appear to be feeding the output of your map_transform instance of ekf_localization_node into your odom_transform instance. That is probably not going to work well at all.
  2. You have wait_for_datum set to true for navsat_transform_node, but your other settings indicate that you don't actually want this set to true. I just realized that I need to document that parameter on the wiki, so that's my fault. In any case, it's not relevant for your use case.
  3. If all you have is IMU and GPS data, then you don't need to run two EKFs, as it won't really help you.

I did find a bug with the node crashinig when publish_filtered_gps was set to true. I have fixed it and it is in the upstream repository. Please pull down that version until I can get a new release out.

Anyway, here are the settings that worked for me. Please note that I added a static transform publisher for the base_link->gps transform:


  <node name="bl_gps" pkg="tf2_ros" type="static_transform_publisher" args="0 0 0 0 0 0 1 base_link gps_link" />

  <node pkg="robot_localization" type="navsat_transform_node" name="navsat_transform_node" respawn="true" output="screen">
  <param name="magnetic_declination_radians" value="0.36878808"/>
  <param name="zero_altitude" value="false"/>
  <param name="publish_filtered_gps" value="true"/>
  <param name="broadcast_utm_transform" value="true"/>
  <param name="wait_for_datum" value="false"/>

  <remap from="/gps/fix" to="/gps"/>
  <remap from="/imu/data" to="/imu"/>

<node pkg="robot_localization" type="ekf_localization_node"  name="ekf_odom" clear_params="true">

  <param name="odom0" value="odometry/gps"/>
  <param name="imu0" value="/imu"/>

  <param name="frequency" value="30"/>
  <param name="sensor_timeout" value="2"/>
  <param name="two_d_mode" value="true"/>

  <param name="map_frame" value="map"/>
  <param name="odom_frame" value="odom"/>
  <param name="base_link_frame" value="base_link"/>
  <param name="world_frame" value="odom"/>

  <rosparam param="imu0_config">[false, false, false,
                                 false, false, true,
                                 false, false, false,
                                 false, false, true,
                                 true, false, false]</rosparam>

  <param name="imu0_differential" value="false"/>
  <param name="imu0_remove_gravitational_acceleration" value="true"/>

  <rosparam param="odom0_config">[true, true, false,
                                  false, false, false,
                                  false, false, false,
                                  false, false, false,
                                  false, false, false]</rosparam>

  <param name="odom0_differential" value="false"/>

  <param name="print_diagnostics" value="true"/>
  <param name="debug"           value="false"/>
  <param name="debug_out_file"  value="$(env HOME)/adroit_files/debug_ekf_localization.txt"/>