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Can you just post your navsat_transform_node config in its entirety?

I think this looks like a bug. When we use wait_for_datum, we aren't setting world_frame_id_. We initialize it to odom here, but then we never update it, because we're not using the normal callback mechanism. We should add a parameter for that frame ID for manual datum setting so we set that accordingly.

Feel free to file a ticket, or better yet, a PR. :)