How to config the robot_localization package [closed]

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Hey Guys, I am using the robot_localization package to get a accurate pose estimation for my robot. I use the wheel encoders to obtain the raw odometry information, and an imu to get the information of yaw. The pose and twist covariance of raw odometry is given as:

odom.pose.covariance[0] = 0.1;odom.pose.covariance[7] = 0.1;odom.pose.covariance[14] = 0.1; 
odom.pose.covariance[21] = 0.0025;odom.pose.covariance[28] = 0.0025;odom.pose.covariance[35] = 0.0025
odom.twist.covariance[0] = 0.25;odom.twist.covariance[7] = 0.25; odom.twist.covariance[14] = 0.1;
odom.twist.covariance[21] = 0.02; odom.twist.covariance[28] = 0.02; odom.twist.covariance[35] = 0.02;

And I only get the orientation message from the Imu, the imu_msg.angular_velocity and imu_msg.linear_acceleration is all zero. The corresponding covariance is given as:

imu_msg.orientation_covariance=[0.0025,0,0,0,0.0025,0,0,0,0.000025]
imu_msg.angular_velocity_covariance=[0.02,0,0,0,0.02,0,0,0,0.02]
imu_msg.linear_acceleration_covariance =[0.04,0,0,0,0.04,0,0,0,0.04]

The ekf_localization configure param is as follows:

ekf_localization:
  frequency: 20
  two_d_mode: true
  odom0: /odom_raw
  odom0_config: [false, false, false,
                 false, false, false,
                 true, true, false,
                 false, false, false,
                 false, false, false]
  odom0_differential: false
  odom0_relative: false

  imu0: /imu/data
  imu0_config: [false, false, false,
                false, false, true,
                false, false, false,
                false, false, false,
                false, false, false]
  imu0_differential: false
  imu0_relative: true
  odom_frame: odom
  base_link_frame: base_link
  world_frame: odom

when I run move_base and amcl package to navigation, and in Rviz Click the 2D pose estimate(Ps: I have a rotate function to get the robot position), a stranger phenomenon happens, the robot rotate a round. Then, the robot didn't move in fact, but the rviz shows the robot is always rotating and the laser scan is also rotate quickly. Through echo the topic's message, the /odom_raw and /imu data is correct, but the fused data of /odom topic is wrong, it echos the /odom topic's angular.z=5.01. I don't know how to config the parameter of robot_localization, and through my test only configuration parameters is given as:

ekf_localization:


frequency: 50
  two_d_mode: true
  odom0:/odom_raw
  odom0_config: [true, true, false,
                 false, false, true,
                 true, true, false,
                 false, false, true,
                 false, false, false]
  odom0_differential: false
  odom0_relative: true
  imu0: /imu/data
  imu0_config: [false, false, false,
                false, false, true,
                false, false, false,
                false, false, true,
                true, true, false]
  imu0_differential: true
  imu0_relative: true
  odom_frame: odom
  base_link_frame: base_link
  world_frame: odom

the robot_localization package can works well, but I don't know the reasons. So, can anyone give me some suggestions to adjust these parameters? Thans a lot!