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Hmmm... I don't know enough about the Turtlebot to know whether those variances make sense, but last matrix is definitely screwy for two reasons:

  1. The matrix should be symmetric (A = A'): if there is an upper-diagonal, non-zero value, it should have an equal counterpart in the lower diagonal.
  2. It seems strange that the Y variance – the diagonal entries are variances, not covariances – would be larger than the X variance when turning in place.

My guess is that the ODOM_TWIST_COVARANCE2 matrix is corrupted, and the Y variance should be 1e-9 to match the X variance, with no non-zero, off-diagonal entries.