# Revision history [back]

I note the following:

• The EKF's job is to generate the odom->base_link transform, yet you are publishing a static transform from base_link to odom. You need to get rid of this:

rosrun tf static_transform_publisher 0 0 0 0 0 0 base_link odom 100

• I should also point out that you can (and should) run static transform publishers from a launch file.

• Are you running those commands in succession, or are you running them in separate terminals? If you bring down the static_transform_publishers, they no longer provide the transforms.

• Side note that won't change anything: your IMU's covariances are all 0. I'd put real values in there.