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I also followed this tutorial, but it doesn't cover every problem you could have. I would first check if your odometry is good enough. You can follow this tuning guide first http://wiki.ros.org/navigation/Tutorials/Navigation%20Tuning%20Guide.

Check with rostopic echo mytopic that your IMU message and odometry message make sense. Try to visualize them in rviz. I found that my IMU for example was not published in pose_ekf because it was not imu/data.

Do you have error message when you run your launch file ?