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You may have a bit more work to do. The problem is that Twist messages are relative, they only include linear and angular velocities. The Compass you are using is provides absolute heading information.
The correct way to fuse the new absolute heading information with your system will not be the same as the way you were fusing the original relative angular information.
I recommend looking at the robot localization package which includes some great documentation on this matter. If you decide to use that package you'll have a very powerful EKF to estimate the position and motion of your robot.
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