help ROBOT_LOCALIZATION

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Hello

I'm rephrasing my question ...

As the following image, would this be the expected result with the Robot_Localization package?

If so, based on my odometry and IMU readings below, what would be the correct configuration of ekf_template.yaml? Or am I mistaken in something?

/odom

   ---
    header: 
      seq: 735
      stamp: 
        secs: 1559070711
        nsecs: 593724715
      frame_id: "odom"
    child_frame_id: "base_footprint"
    pose: 
      pose: 
        position: 
          x: 3.58344948396
          y: 0.0485756406341
          z: 0.0
        orientation: 
          x: 0.0
          y: 0.0
          z: 0.0110481512963
          w: 0.999938967314
      covariance: [0.001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.001, 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, 0.001]
    twist: 
      twist: 
        linear: 
          x: 0.145770311356
          y: 0.0
          z: 0.0
        angular: 
          x: 0.0
          y: 0.0
          z: 0.00531763536856
      covariance: [0.0001, 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, 0.0001]
    ---

/imu_raw

header: 
  seq: 3022
  stamp: 
    secs: 1559070635
    nsecs: 872518062
  frame_id: "imu_link"
orientation: 
  x: 0.0243225097656
  y: -0.0449829101562
  z: 0.0723571777344
  w: 0.996063232422
orientation_covariance: [0.0001, 0.0, 0.0, 0.0, 0.0001, 0.0, 0.0, 0.0, 0.0001]
angular_velocity: 
  x: 0.79345703125
  y: 0.06103515625
  z: 7.99560546875
angular_velocity_covariance: [0.0001, 0.0, 0.0, 0.0, 0.0001, 0.0, 0.0, 0.0, 0.0001]
linear_acceleration: 
  x: 0.078125
  y: 0.0244140625
  z: 1.00390625
linear_acceleration_covariance: [0.001, 0.0, 0.0, 0.0, 0.001, 0.0, 0.0, 0.0, 0.001]

ekf_template.yaml:

frequency: 50
sensor_timeout: 0.1
two_d_mode: true
print_diagnostics: true
debug: false
debug_out_file: /path/to/debug/file.txt
publish_tf: true

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

odom0: /odom
odom0_config: [?,  ?,  ?,
               ?, ?, ?,
               ?, ?, ?,
               ?, ?, ?,
               ?, ?, ?]
odom0_differential: false

imu0: /imu_raw
imu0_config: [?, ?, ?,
              ?,  ?,  ?,
              ?, ?, ?,
              ?,  ?,  ?,
              ?,  ?,  ?]
imu0_differential: false

Update 2

I made some corrections and followed some recommendations from the robot_localization website: http://docs.ros.org/melodic/api/robot...

I am getting the following result during a circular motion:

Anyone have any idea what might be happening? If I set the IMU orientation(YAW) as false the problem disappears but I'm not sure if I should do this.

my /odom

---
header: 
  seq: 21363
  stamp: 
    secs: 1559912897
    nsecs: 874729232
  frame_id: "odom"
child_frame_id: "base_footprint"
pose: 
  pose: 
    position: 
      x: 0.236642009509
      y: 0.0226101278157
      z: 0.0
    orientation: 
      x: 0.0
      y: 0.0
      z: 0.612814005797
      w: 0.790227178917
  covariance: [0.001, 0.0, 0.0, 0.0 ...