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You do not need a map for this task. (Still need a 'map_frame'). Please check the effects of the imu as well. If you are running it in a simulation, the imu would be designed with a big error.

Without SLAM the small drifts in odometry are not exactly compensated for.

One thing to try would be to x and y velocity of odom=0 into the filter rather than directly feeding the absolute pose values.

Have a look at these parameters.

If you decide to try out the parameters then you have to kill your old instance of odom and start two nodes ekf_se_odom and ekf_se_map. Hope it works out.