robot_localization ignores pose topic

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Hi,

I wish to compare the outputs of two instances of robot localization on Clearpath's Jackal: one that gets IMU and odometry as inputs and another that gets the same IMU and odometry topics but also a pose topic that originates in observations from a UAV that hovers above.

It seems like the second instance ignores the pose topic since the outputs of the two instances are identical: plot of the two outputs of the two instances

Below are the two .yaml config files of the two instances:

robot_localization.yaml

frequency: 50

odom0: /jackal_velocity_controller/odom
odom0_config: [false, false, false,
               false, false, false,
               true, true, true,
               false, false, true,
               false, false, false]
odom0_differential: false

imu0: /microstrain/imu/data 
imu0_config: [false, false, false,
              true, true, true,
              false, false, false,
              true, true, true,
              false, false, false]
imu0_differential: false

odom_frame: odom
base_link_frame: base_link
world_frame: odom

robot_localization_collaborative.yaml

frequency: 50
publish_tf: false

odom0: /jackal_velocity_controller/odom
odom0_config: [false, false, false,
               false, false, false,
               true, true, true,
               false, false, true,
               false, false, false]
odom0_differential: false

pose0: /ugv_pose_from_air 
pose0_config: [true, true, false,
               false, false, false,
               false, false, false,
               false, false, false,
               false, false, false]
pose0_differential: false

imu0: /microstrain/imu/data 
imu0_config: [false, false, false,
              true, true, true,
              false, false, false,
              true, true, true,
              false, false, false]
imu0_differential: false

odom_frame: odom
base_link_frame: base_link
world_frame: odom

Sample UAV pose message:

header: 
  seq: 329
  stamp: 
    secs: 1493723176
    nsecs: 773633956
  frame_id: /bebop/odom
pose: 
  pose: 
    position: 
      x: 0.470266436343
      y: 1.16011254862
      z: 0.0
    orientation: 
      x: 0.0
      y: 0.0
      z: 0.0
      w: 0.0
  covariance: [1.0652132368969054, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.1711349408952507, 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]

I uploaded a bag file and sample messages of the three EKF input topics here.

My code is available in GitHub.

Thanks!