I am trying to fuse odometry, GPS and IMU data using dual_ekf_navsat_example.launch. The output of navsattransformnode on the topic /odometry/gps is all 0. Here is a sample:

---

header:

seq: 132

stamp: secs: 1432235550 nsecs: 838541030

frame_id: "map"

childframeid: ''

pose:

pose:

position: 
  x: 0.0
  y: 0.0
  z: 0.0

orientation: 
  x: 0.0
  y: 0.0
  z: 0.0
  w: 1.0

covariance: [0.6400003477981863, 0.000817117811645985, -9.533006176198604e-06, 0.0, 0.0, 0.0, 0.0008171178116459849, 2.5597383563975455, -0.02239686535700534, 0.0, 0.0, 0.0, -9.533006176184728e-06, -0.02239686535700534, 0.6402612958042686, 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]

twist:

twist:

linear: 
  x: 0.0
  y: 0.0
  z: 0.0

angular: 
  x: 0.0
  y: 0.0
  z: 0.0

covariance: [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, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]

---

Here are all the files

launch file: dualekfnavsat_example.launch

param file: dualekfnavsat_example.yaml

ROS bag: test1_modified.bag

tf tree: frames.pdf

rqt_graph: rosgraph.png

I am not able to figure out what the problem is. I have the following frame ids:

/fix - "gps"

/imu/data - "base_link"

/huskyvelocitycontroller/odom - "odom"

Please help me to find out the problem with my setup. Thanks in advance.