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After all, there was a problem with how to connect the frames.
I used nmea_navsat_driver without any doubt, but it didn't seem to work properly due to a problem with the settings I did.
So, I tried to prevent TF output from nmea_navsat_driver and connect between gnss frame and base_footprint frame by tf static_transform_publisher.(gnss frame is a child.)
It worked to move, but there are some problems.
The important problem is the origin coordinates after nav_msgs/Odometry conversion.
If the latitude / longitude information and orientation information of the start position are not set in detail in [navsat_transform_edit.yaml] (my case), the coordinate position and direction after conversion will be unintended, so the track will be shown at a position completely different from wheel odometry (and other odometry information).
In other words, it means that EKF_node cannot integrate with the position information of wheel odometry.
I wanted to integrate it with other positioning information in my plan, but I'm not sure it will work.
If you use this as a reference, we recommend that you install the IMU according to the instructions.
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