robot_localization use case with landmarks

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I have a non holonomic mobile base that I want to localize. When I start it I get its odometry published to /odom but with covariances of 0 for both twist and pose. I also fixed a camera on it and can observe and identify landmarks at known global positions and then can estimate the pose of the robot in the world. If I understood well, I set the world frame in my launch file to the map frame as explaned here

If you are fusing global absolute position data that is subject to discrete jumps (e.g., GPS or position updates from landmark observations) then:

a- Set your world_frame to your map_frame value

b- MAKE SURE something else is generating the odom->base_link transform. Note that this can even be another instance of a robot_localization state estimation node. However, that instance should not fuse the global data.

Here Is my current launch file:

<launch>
    <arg name="use_sim" default="true"/>
    <param name="/use_sim_time" type="bool" value="$(arg use_sim)" />

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

      <param name="frequency" value="30"/>
      <param name="sensor_timeout" value="1"/>
      <param name="two_d_mode" value="true"/>

      <param name="map_frame" value="map"/>
      <param name="odom_frame" value="odom"/>
      <param name="base_link_frame" value="base_link"/>
      <param name="world_frame" value="map"/>

      <param name="transform_time_offset" value="0.0"/>
      <param name="odom0" value="/odom"/>
      <param name="pose0" value="/my_pose"/>

      <rosparam param="odom0_config">[false, false, false,
                                      false, false, false,
                                      true,  true, false,
                                      false, false, true,
                                      false, false, false]</rosparam>

      <rosparam param="pose0_config">[true,  true,  false,
                                      false, false, true,
                                      false, false, false,
                                      false, false, false,
                                      false, false, false]</rosparam>

      <param name="odom0_differential" value="false"/>
      <param name="pose0_differential" value="false"/>

      <param name="odom0_relative" value="false"/>
      <param name="pose0_relative" value="false"/>

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

      <param name="odom0_pose_rejection_threshold" value="5"/>
      <param name="odom0_twist_rejection_threshold" value="1"/>
      <param name="pose0_rejection_threshold" value="2"/>

      <param name="debug"           value="false"/>
      <param name="debug_out_file"  value="debug_ekf_localization.txt"/>

    </node>

</launch>

I play a bag providing /odom and the odom->base_link transform and then launch robot_localization. The topic odometry_filtered is there but nothing gets published on it. At this stage there is nothing published to /my_pose as no landmarks are observed.

What is missing?

My odom message looks like this:

header: 
  seq: 4701
  stamp: 
    secs: 1439389120
    nsecs: 950957354
  frame_id: /odom
child_frame_id: /base_footprint
pose: 
  pose: 
    position: 
      x: 17.6170005798
      y: 0.433000028133
      z: 0.0
    orientation: 
      x: 0.0
      y: 0.0
      z: -0.00999983404194
      w: 0.99995000041
  covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
twist: 
  twist: 
    linear: 
      x: -0.286000013351
      y: 0.0
      z: 0.0
    angular: 
      x: 0.0
      y: 0.0
      z: 0.0 ...