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you should change your odom0 and imu0 configurations to this :

odom0_config: [false, false, false,
               false, false, false,
               true, true, true,
               false, false, true,
               false, false, false]

imu0_config: [false, false, false,
              false, false, true,
              false, false, false,
              false, false, true,
              true, false, false]