ekf_localization_node no output

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Hello everyone I am a beginner with ROS, and want to test things with the ekf_localization_node (I use ROS Jade and Ubuntu 14.04)

So, I simulated a 2-wheeled robot in a 2D environment in Matlab. Typically, a robot that goes away from its charging station to reach a target. Now, I want to test the ekf_localization node to implement it soon on hardware(mobile robot with wheel encoders and gyro output signals), after I know it is at least possible

I extracted log files from my simulation (equivalent to odometry): x velocity, y velocity and yaw velocity.

image:

--> it was converted into a geometry_msgs/TwistWithCovarianceStamped to test it with the ekf_localization_node. Here is my launchfile

<launch>

<node pkg="robot_localization" type="ekf_localization_node" name="ekf_localization" clear_params="true">


  <param name="frequency" value="20"/>


  <param name="sensor_timeout" value="0.06"/>


  <param name="two_d_mode" value="true"/>



  <!-- Defaults to "odom" if unspecified -->
  <param name="odom_frame" value="odom"/>
  <!-- Defaults to "base_link" if unspecified -->
  <param name="base_link_frame" value="base_link"/>
  <!-- Defaults to the value of "odom_frame" if unspecified -->
  <param name="world_frame" value="odom"/>

 <param name="twist0" value="/twist_input1"/> 
  <param name="transform_time_offset" value="0.0"/>



  <rosparam param="twist0_config">[false, false, false,
                                  false, false, false,
                                  true,  true, false,
                                  false, false, true,
                                  false, false, false]</rosparam>


  <param name="twist0_differential" value="true"/>

  <param name="twist0_relative" value="true"/>

  <param name="print_diagnostics" value="true"/>

  <!-- ======== ADVANCED PARAMETERS ======== -->

  <param name="twist0_queue_size" value="2"/>

  <param name="debug"           value="false"/>
  <!-- Defaults to "robot_localization_debug.txt" if unspecified. -->
  <param name="debug_out_file"  value="debug_ekf_localization.txt"/>


  <rosparam param="process_noise_covariance">[0.05, 0,    0,    0,    0,    0,    0,     0,     0,    0,    0,    0,    0,    0,    0,
                                              0,    0.05, 0,    0,    0,    0,    0,     0,     0,    0,    0,    0,    0,    0,    0,
                                              0,    0,    0.06, 0,    0,    0,    0,     0,     0,    0,    0,    0,    0,    0,    0,
                                              0,    0,    0,    0.03, 0,    0,    0,     0,     0,    0,    0,    0,    0,    0,    0,
                                              0,    0,    0,    0,    0.03, 0,    0,     0,     0,    0,    0,    0,    0,    0,    0,
                                              0,    0,    0,    0,    0,    0.06, 0,     0,     0,    0,    0,    0,    0,    0,    0,
                                              0,    0,    0,    0,    0,    0,    0.025, 0,     0,    0,    0,    0,    0,    0,    0,
                                              0,    0,    0,    0,    0,    0,    0,     0.025, 0,    0,    0,    0,    0,    0,    0,
                                              0,    0,    0,    0,    0,    0,    0,     0,     0.04, 0,    0,    0,    0,    0,    0,
                                              0,    0,    0,    0,    0,    0,    0,     0,     0,    0.01, 0,    0,    0,    0,    0,
                                              0,    0,    0,    0,    0,    0,    0,     0,     0,    0,    0.01, 0,    0,    0,    0,
                                              0,    0,    0,    0,    0,    0,    0,     0,     0,    0,    0,    0.02, 0,    0,    0,
                                              0,    0,    0,    0,    0,    0,    0,     0,     0,    0,    0,    0,    0.01, 0,    0,
                                              0,    0,    0,    0,    0,    0,    0,     0,     0,    0,    0,    0,    0,    0.01, 0,
                                              0,    0,    0,    0,    0,    0,    0,     0,     0,    0,    0,    0,    0,    0,    0.015]</rosparam>


       <rosparam param="initial_estimate_covariance">[1e-9, 0,    0,    0,    0,    0,    0,    0,    0 ...