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Hello,

image description

See this link of the documentation.

I believed the error comes from these parameters that are not properly set.

odom_frame: odom
base_link_frame: base_link
world_frame: map
map_frame: map

You should maybe have an other instance of EKF like the one bellow that publishes odom->baselink.

odom_frame: odom
base_link_frame: base_link
world_frame: odom
map_frame: map

Best wishes,

Cocodmdr

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