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Hi, I assume you're using robot_localization package to achieve this. It seems you have misunderstood the intentions of this package. You are correct in using a navsat_transform_nodeto transform your GPS data into pose estimates. You are filtering your IMU twice. Typically following ROS REP105 you would have a world>map>odom>base_link transform tree, I don't see this as necessary for your application as you don't have robot odometry (just keep in mind you might have an inaccurate estimate due to sensor noise and no fusion). So, my recommendation is:

  1. Delete your 1. node
  2. Specify base_link as the odom frame in your 3. node.