Hello!

So I am trying to implement sensor fusion from IMU and Odometry Sensors in Simulation. However I am getting odd behavior such as my model is very shaky as well as the odometry saying that the model is falling! In reality the model hasn't moved at all in Gazebo.

I'm thinking this might be an issue with the IMU plugin but I'm not seeing anything overtly wrong with it.

Here are some pictures:

https://imgur.com/a/HvXTC42

And my Code: urdf: https://github.com/ji81930/ros_robotics/blob/master/ros_robotics/urdf/dd_robot.urdf.xacro

gazebo launch: https://github.com/ji81930/ros_robotics/blob/master/ros_robotics/gazebo.launch

ekf launch: https://github.com/ji81930/ros_robotics/blob/master/robot_localization/launch/ekf_template.launch

ekf yaml: https://github.com/ji81930/ros_robotics/blob/master/robot_localization/params/ekf_template.yaml

Hopefully this is enough information, please let me know your thoughts!