GPS fusing with ROS Localization Stack - leading to inaccurate pose estimates

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Hello,

We have a ROS platform on an Intel 5th Gen I7 running Ubuntu with a WAS GPS and the ROS Localization stack running in Kinetic.

Currently, we are having trouble doing the transforms for the GPS frame to Robot Frame. Specifically, we get the wrong pose estimate - as the robot is moving forward the transforms will show it moving at an angle; the fused odometry and IMU post estimate looks very good, but with GPS fused as well the pose become very inaccurate.

Below is the launch file that we have.

Any suggestions on how we might fix the inaccurate GPS driven pose estimate?

<launch>

<node pkg="robot_localization" type="ekf_localization_node" name="ekf_localization" clear_params="true" output="screen">

<rosparam param="odom0_config">[true, true, false, false, false, false, false, false, false, false, false, false, false, false, false]</rosparam>

<rosparam param="odom1_config">[true, true, false, false, false, false, false, false, false, false, false, false, false, false, false]</rosparam>

<rosparam param="imu0_config">[false, false, false, false, false, true, false, false, false, false, false, true, false, false, false]</rosparam>

</node>

<node pkg="robot_localization" type="navsat_transform_node" name="navsat_transform_node" respawn="true" output="screen">

<param name="magnetic_declination_radians" value="0.20944"/>
<param name="yaw_offset" value="1.5708"/>
<param name="zero_altitude" value="true"/>
<param name="broadcast_utm_transform" value="true"/>
<param name="use_odometry_yaw" value="false"/>
<param name="waite_for_datum" value="false"/>

<remap from="/odometry/filtered" to="/odometry/filtered" />
<remap from="gps/fix" to="gps_data" />
<remap from="imu/data" to="/imu/earth_refference" />

</node>

</launch>