Revision history [back]

Thank you for including a config file and sensor messages.

Try these:

1. Get rid of the rejection threshold parameters (don't just delete them from the config file, either - if you are already running, you need to clear those parameters from the parameter server). Those are advanced parameters that you should use after the system is behaving generally as you expect.
2. As a test, don't fuse the IMU data. Just fuse the wheel encoder velocities. Make sure it more or less matches the raw wheel encoder values. If it does, then the issue is with the IMU data. Try including one IMU variable (e.g., yaw velocity) and run again. Does it still work? Try including another one.
3. Unrelated to your problem, but you have two_d_mode turned on (which is fine), but you are trying to fuse 3D orientation variables in your IMU config. You can set the roll, pitch, roll velocity, pitch velocity, Y acceleration, and Z acceleration values to false.