Integrate UM7 IMU and Adafruit GPS with robot_localization

edit

I'm trying to estimate the position of a robot using the robot_localization ROS package. Currently I use a UM7 Orientation Sensor wich has their own ROS package (um7_driver) and a Adafruit Ultimate GPS Breakout version 3. To read the GPS data I use the nmea_serial_driver. I read a lot of answers in this page and documents as REP-103 and REP-105, but I'm still not able to configure correctly the nodes and topics to obtain an output in /odometry/filtered or /odometry/gps topics.

I'm usign the navsat_transform_node to convert the GPS raw data (fix) to a odometry/gps message. This odometry/gps message is an input for the ekf_localization_node. In addition the odometry message (output) of the ekf_localization_node is an input for the navsat_transform_node in a circular path as were described in: How to fuse IMU & GPS using robot_localization

I think that my IMU configuration is ENU compliant. My launchers files are described below with samples of gps/fix and imu/data messages, unfortunately I can't upload an imageof my rqt_graph. Any comments and suggestions will be appreciated!!!

IMU Message Sample:

---
header: 
  seq: 352
  stamp: 
    secs: 1491248090
    nsecs: 477437036
  frame_id: imu
orientation: 
  x: 0.0580077504
  y: 0.0024169896
  z: 0.9721333587
  w: -0.2270291759
orientation_covariance: [0.002741552146694444, 0.0, 0.0, 0.0, 0.002741552146694444, 0.0, 0.0, 0.0, 0.007615422629706791]
angular_velocity: 
  x: 8.9495899038e-05
  y: -0.000212560517745
  z: 0.000418925544915
angular_velocity_covariance: [1.0966208586777776e-06, 0.0, 0.0, 0.0, 1.0966208586777776e-06, 0.0, 0.0, 0.0, 1.0966208586777776e-06]
linear_acceleration: 
  x: -4.19586237482
  y: 1.07622469897
  z: 8.44690478507
linear_acceleration_covariance: [0.0015387262937311438, 0.0, 0.0, 0.0, 0.0015387262937311438, 0.0, 0.0, 0.0, 0.0015387262937311438]
---

GPS Message Sample:

---
header: 
  seq: 54
  stamp: 
    secs: 1491248749
    nsecs: 594259977
  frame_id: /gps
status: 
  status: 0
  service: 1
latitude: -33.0408566667
longitude: -71.6299133333
altitude: 132.4
position_covariance: [3.9204, 0.0, 0.0, 0.0, 3.9204, 0.0, 0.0, 0.0, 15.6816]
position_covariance_type: 1
---

EDIT1: Sorry but I forgot add my launch (configuration) files.

This is my IMU_GPS.lauch

<launch>
<!--________________________ IMU ____________________________ -->
    <node pkg="um7" type="um7_driver" name="um7_driver" respawn="true" output="screen">
        <param name="port" value="/dev/ttyUSB0"/>
        <param name="frame_id" type="string" value="imu"/>
        <param name="baud" type="int" value="115200"/>
        <param name="mag_updates" type="bool" value="true"/>
    </node>

<!--________________________ GPS ____________________________ -->
    <node pkg="nmea_navsat_driver" type="nmea_serial_driver" name="nmea_serial_driver" respawn="true" output="screen"> 
        <param name="port" value="/dev/ttyUSB1"/>
        <param name="baud" value="9600"/>         
    </node>
</launch>

And this is my EKF.launch

<launch>

    <!--________________________ base_link -> IMU ____________________________ -->
    <!--<node pkg="tf" type="static_transform_publisher" name="imu" args="0 0 0 0 0 0 1 base_link imu 20" />-->
    <node pkg="tf" type="static_transform_publisher" name="bl_gps" args="0 0 0 0 0 0 1 base_link /gps" />
    <node pkg="tf" type="static_transform_publisher" name="bl_imu" args="0 0 0 0 0 0 1 base_link imu" />



    <node pkg="robot_localization" type="ekf_localization_node" name="ekf_localization" clear_params="true">
      <param name="frequency" value="10"/>
      <param name="sensor_timeout" value="0 ...