robot_localization : no filtered odometry with visual odometry

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Hi,

There is no filtered odometry from robot_localization when I put visual odometry as an input. Interesting thing is that robot_localization successfully produces a filtered odometry when I put wheel odometry instead of visual odometry. Both visual odometry and wheel odometry uses same ros message (i.e. nav_msgs/Odometry). The launch file is follows.

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

  <param name="frequency" value="20"/>
  <param name="sensor_timeout" value="0.1"/>
  <param name="two_d_mode" value="true"/>

  <param name="map_frame" value="map"/>
  <param name="odom_frame" value="odom_combined"/>
  <param name="base_link_frame" value="base_footprint"/>
  <param name="world_frame" value="map"/> 


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

  <param name="odom0" value="/visual_odometer/odometry"/>  

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

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

Any comments would be appreciated.

[Example of wheel odometry]

[Example of visual odometry]