ekf_localization_node : Wheel odometry and IMU filter output /odometry/filtered result worst than only wheel odometry

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I'm trying to filter the IMU and Odometry for better odometry result with ROS Kinetic robot_localization ekf_localization_node. The result from topic /odometry/filtered looks even worst than the only wheel odometry result.

1. The result of the odometry and the odometry/filtered result is shows below, the green line is the odometry/filtered result filter by ekf_localization_node, the blue line is the robot wheel encoder odometry. I control the robot go one round, and the odometry/filtered result drift a lot. How to configure it for a better odometry/filtered

https://ibb.co/vm6HHMB

2. The ekf_localization node give me this warning

[ WARN] [1559037541.564209301]: Transform from imu to base_link was unavailable for the time requested. Using latest instead.

These are my ekf_localization_node launch file, IMU topic, odometry topic and my ekf_localization configuration

ODOM TOPIC : /odom

header: 
  seq: 36880
  stamp: 
    secs: 1559041171
    nsecs: 825065674
  frame_id: "odom"
child_frame_id: "base_link"
pose: 
  pose: 
    position: 
      x: -11.4829724863
      y: 1.05053742504
      z: 0.0
    orientation: 
      x: -0.0
      y: 0.0
      z: 0.763262843766
      w: -0.646088098735
  covariance: [0.01, 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, 0.01, 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, 0.01, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01]
twist: 
  twist: 
    linear: 
      x: 0.0
      y: 0.0
      z: 0.0
    angular: 
      x: 0.0
      y: 0.0
      z: 0.0
  covariance: [0.01, 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, 0.01, 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, 0.01, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.01]

imu topic : /imu_data

header: 
      seq: 79151
      stamp: 
        secs: 1559041431
        nsecs: 174880504
      frame_id: "imu"
    orientation: 
      x: -0.0113399562479
      y: 0.00536445058446
      z: 0.525673082796
      w: -0.850594167677
    orientation_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
    angular_velocity: 
      x: 1.11133271904e-83
      y: 1.4868652577e-183
      z: -1.13872042843e-82
    angular_velocity_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
    linear_acceleration: 
      x: -0.0335302734375
      y: 0.24908203125
      z: 9.87706054688
    linear_acceleration_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]

Configuration

frequency: 30
sensor_timeout: 1
two_d_mode: true
transform_time_offset: 0.3
transform_timeout: 0.0
print_diagnostics: true
debug: false
debug_out_file: /path/to/debug/file.txt
publish_tf: true
publish_acceleration: false

map_frame: map              
odom_frame: odom            
base_link_frame: base_link  
world_frame: odom           

odom0: /odom

odom0_config: [false,  false,  false,
               false, false, false,
               true, true, false,
               false, false, true,
               false, false, false]

odom0_queue_size: 2
odom0_nodelay ...