robot_localization with odometry\imu\gps

edit

I dont know why the begin point away from the origin point from map-frame.

I have set the first gps point for datum.

my params of map and gps:

ekf_se_map:
  frequency: 30
  sensor_timeout: 0.1
  two_d_mode: true
  transform_time_offset: 0.0
  transform_timeout: 0.0
  print_diagnostics: true
  debug: false

  map_frame: map
  odom_frame: odom
  base_link_frame: base_footprint
  world_frame: map

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

  odom1: odometry/gps
  odom1_config: [true,  true,  false,
             false, false, false,
             false, false, false,
             false, false, false,
             false, false, false]
  odom1_queue_size: 10
  odom1_nodelay: false
  odom1_differential: false
  odom1_relative: false
  # odom1_pose_rejection_threshold: 5

  imu0: imu
  imu0_config: [false, false, false,
            false, false,  true,
            false, false, false,
            true,  true,  true,
            true,  true,  true]
  imu0_nodelay: true
  imu0_differential: false
  imu0_relative: false
  imu0_queue_size: 10
  imu0_remove_gravitational_acceleration: true
  imu0_pose_rejection_threshold: 0.8
  imu0_twist_rejection_threshold: 0.8
  imu0_linear_acceleration_rejection_threshold: 0.8

  use_control: false

  process_noise_covariance: [0.05, 0,    0,    0,    0,    0,    0,     0,     0,    0,    0,    0,    0,    0,    0,
                         0,    0.05, 0,    0,    0,    0,    0,     0,     0,    0,    0,    0,    0,    0,    0,
                         0,    0,    0.06, 0,    0,    0,    0,     0,     0,    0,    0,    0,    0,    0,    0,
                         0,    0,    0,    0.03, 0,    0,    0,     0,     0,    0,    0,    0,    0,    0,    0,
                         0,    0,    0,    0,    0.03, 0,    0,     0,     0,    0,    0,    0,    0,    0,    0,
                         0,    0,    0,    0,    0,    0.06, 0,     0,     0,    0,    0,    0,    0,    0,    0,
                         0,    0,    0,    0,    0,    0,    0.025, 0,     0,    0,    0,    0,    0,    0,    0,
                         0,    0,    0,    0,    0,    0,    0,     0.025, 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,    0.01, 0,    0,    0,    0,    0,
                         0,    0,    0,    0,    0,    0,    0,     0,     0,    0,    0.01, 0,    0,    0,    0,
                         0,    0,    0,    0,    0,    0,    0,     0,     0,    0,    0,    0.02, 0,    0,    0,


                     0,    0,    0,    0,    0,    0,    0,     0,     0,    0,    0,    0,    0.01, 0,    0,
                             0,    0,    0,    0,    0,    0,    0,     0,     0,    0,    0,    0,    0,    0.01, 0,
                             0,    0,    0,    0,    0,    0,    0,     0,     0,    0,    0,    0,    0,    0,    0.015]

      initial_estimate_covariance: [1.0,  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,    1e-9, 0,    0,    0,    0,    0,    0,    0,     0,     0,     0,    0,    0,
                                0,    0,    0,    1e-9, 0,    0,    0,    0,    0,    0,     0,     0,     0,    0,    0,
                                0,    0,    0,    0,    1e-9, 0,    0,    0,    0,    0,     0,     0,     0,    0,    0,
                                0,    0,    0,    0,    0,    1e-9, 0,    0,    0,    0,     0,     0,     0,    0,    0,
                                0,    0,    0,    0,    0,    0,    1e-9, 0,    0,    0,     0,     0,     0 ...