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I had a look at your bag file and I think the problem is related to your tf setup. Here's what I think is happening:

• The madgwick filter publishes a tf from base_link to imu (because you set the publish_tf param to be true)
• When r_l receives the imu measurement, it will attempt to transform it from imu to base_link so that it fuses the orientation properly
• Because the madgwick filter is constantly updating the tf between base_link and imu, when the imu measurements are transformed to base_link, it is resulting in a measurement with unit quaternion orientation.

I ran your bag data (only /imu/data and /tf_static) with your r_l launch file configuration and the ekf odometry orientation matches the /imu/data orientation. So I think the only thing you'll need to do is remove the set the publish_tf param to false and you should be okay. Give that a try and see what happens.

I had a look at your bag file and I think the problem is related to your tf setup. Here's what I think is happening:

• The madgwick filter publishes a tf from base_link to imu (because you set the publish_tf param to be true)
• When r_l receives the imu measurement, it will attempt to transform it from imu to base_link so that it fuses the orientation properly
• Because the madgwick filter is constantly updating the tf between base_link and imu, when the imu measurements are transformed to base_link, it is resulting in a measurement with unit quaternion orientation.

I ran your bag data (only /imu/data and /tf_static) with your r_l launch file configuration and the ekf odometry orientation matches the /imu/data orientation. So I think the only thing you'll need to do is remove the set the publish_tf param to false and you should be okay. Give that a try and see what happens.