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You are providing robot localization with two sets of velocities. In the odom configurations, since differential is set to true, x, y and yaw will be differentiated to vx, vy and vyaw, however, you are already sending vx, vy and vyaw. If you either set vx, vy and vyaw to false in your odom configuration or set x, y, yaw and differential to false this should solve your issue.

Let me know if this helps.