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Please update the question as follows:

Use the code formatting (little icon with zeros and ones) to format your EKF configuration
Also include your gmapping config
Please include sample messages from all sensor inputs. Again, use the code formatting button.

Just from a quick glance, the only question I have so far is why are you fusing the absolute yaw data from your IMU? And are you sure the signs for your IMU data are correct?

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