robot_localization: yaw drift problems ( 2 imus, wheel odometry, low speed) [closed]

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I am currently testing the localization for a robot, that has 2 imus mounted on the robot and the raw wheel odometry(I do not have access to modify the odometry calculations).

For that, I intended to use the robot_localization package. I have been through the other questions here, and some of the multiple things that I have tried myself were to set multiple combinations of the differential value, and to do some fiddling on the sensor messages covariances and on the process_noise_estimation covariance, and also to select different combinations of which variable to use on the state estimation.

From my last setup, you can find the ekf.yaml and a bagfile. FYI: The robot comes back to exactly the same position.

yaml

frequency: 20
sensor_timeout: 0.0
transform_time_offset: 0.2
two_d_mode: true
print_diagnostics: false

debug: false
debug_out_file: ekf_debug.txt

map_frame: map
odom_frame: odom
base_link_frame: base_link
world_frame: odom

use_control: false
stamped_control: false
control_timeout: 0.2
control_config: [true, false, false, false, false, true]
acceleration_limits: [0.3, 0.0, 0.0, 0.0, 0.0, 0.3]
deceleration_limits: [0.7, 0.0, 0.0, 0.0, 0.0, 0.7]
acceleration_gains: [0.8, 0.0, 0.0, 0.0, 0.0, 0.9]
deceleration_gains: [1.0, 0.0, 0.0, 0.0, 0.0, 1.0]

odom0: /odom
odom0_config: [false,false,false,
           false, false, true,
           true, true, false,
           false, false, false,
           false, false, false]
odom0_differential: false
odom0_relative: true
odom0_queue_size: 10
#odom0_pose_rejection_threshold: 2
#odom0_twist_rejection_threshold: 1
odom0_nodelay: true

imu0: /imutop/data
imu0_config: [false, false, false,
          false,  false,  true,
          false, false, false,
          false,  false,  true,
          false,  false, false]
imu0_nodelay: true
imu0_differential: true
imu0_relative: true
imu0_queue_size: 10
#imu0_pose_rejection_threshold: 2
#imu0_twist_rejection_threshold: 1
imu0_linear_acceleration_rejection_threshold: 0.8
imu0_remove_gravitational_acceleration: false

imu1: /imudown/data
imu1_config: [false, false, false,
          false,  false,  true,
          false, false, false,
          false,  false,  true,
          false,  false, false]
imu1_nodelay: true
imu1_differential: true
imu1_relative: true
imu1_queue_size: 10
imu1_pose_rejection_threshold: 2
imu1_twist_rejection_threshold: 1
imu1_linear_acceleration_rejection_threshold: 0.8
imu1_remove_gravitational_acceleration: false

process_noise_covariance: [0.1, 0.0,    0,    0,    0,    0.0,    0,     0,     0,    0,    0,    0,    0,    0,    0,
                       0,    0.1, 0,    0,    0,    0,    0,     0,     0,    0,    0,    0,    0,    0,    0,
                       0,    0,    0.001, 0,    0,    0,    0,     0,     0,    0,    0,    0,    0,    0,    0,
                       0,    0,    0,    0.09, 0,    0,    0,     0,     0,    0,    0,    0,    0,    0,    0,
                       0,    0,    0,    0,    0.09, 0,    0,     0,     0,    0,    0,    0,    0,    0,    0,
                       0,    0,    0,    0,    0,    0.1, 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,     0.04, 0,    0,    0,    0,    0,    0,    0,
                       0,    0,    0,    0,    0,    0,    0,     0,     0.001, 0,    0,    0,    0,    0,    0,
                       0,    0,    0,    0,    0,    0,    0,     0,     0,    0.09, 0,    0,    0,    0,    0,
                       0,    0,    0,    0,    0,    0,    0,     0,     0,    0,    0.08, 0,    0,    0,    0,
                       0,    0,    0,    0,    0 ...