Setup I have a TurtleBot3 robot with a GPS receiver. I am running ROS2 Dashing on Ubuntu 18.04 and a Raspberry Pi 3 Model B+

Problem

When I change my worldframe in the .yaml parameters file from map to odom navsattransform node produces info message:

[navsat_transform_node-4] [INFO] [navsat_transform]: Datum (latitude, longitude, altitude) is (-1246152232, -1246031536, -518309968) 
[navsat_transform_node-4] [INFO] [navsat_transform]: Datum UTM coordinate is (-124615232, -1246031536)

and no data is published to /odometry/filtered and /odometry/gps. When I have map as worldframe everything is fine. The only change is the worldframe paramater being set to odom that causes this issue. Any ideas to why this is happening?

Yaml param file for ekf_node

ekf_filter_node_map:
  ros__parameters:
    frequency: 30.0
    sensor_timeout: 0.1
    two_d_mode: true
    transform_time_offset: 0.0
    transform_timeout: 0.0
    print_diagnostics: true
    debug: false

    map_frame: map
    odom_frame: odom
    base_link_frame: base_link
    world_frame: map ##Changing this to odom causes the problem.

    odom0: odom
    odom0_config: [false, false, false,
                  false, false, true,
                  false,  true, false,
                  false, false, false,
                  false, false, false]
    odom0_queue_size: 10
    odom0_nodelay: true
    odom0_differential: false
    odom0_relative: false

    odom1: odometry/gps
    odom1_config: [true,  true,  false,
                  false, false, false,
                  false, false, false,
                  false, false, false,
                  false, false, false]
    odom1_queue_size: 10
    odom1_nodelay: true
    odom1_differential: false
    odom1_relative: false

Yaml param file for navsat_transform node

navsat_transform:
  ros__parameters:
    frequency: 30.0
    magnetic_declination_radians: 0.0849975346  # For lat/long  57.452989,  10.021515
    yaw_offset: 0.0
    zero_altitude: false
    broadcast_utm_transform: true
    publish_filtered_gps: true
    use_odometry_yaw: false
    wait_for_datum: false

Launch file

from launch import LaunchDescription
from ament_index_python.packages import get_package_share_directory
import launch_ros.actions
import os
import yaml
from launch.substitutions import EnvironmentVariable
import pathlib
import launch.actions
from launch.actions import DeclareLaunchArgument

def generate_launch_description():
    return LaunchDescription([

        launch.actions.ExecuteProcess(
            cmd=['ros2', 'run', 'tf2_ros', "static_transform_publisher",
            "-0.08", "0.00", "0.23", "0", "0", "0", "base_link", "gps"],
            output='screen'
        ),

        launch_ros.actions.Node(
            package='localization',
            node_executable='gps',
            node_name='gps_node',
            output='screen',
        ),

        launch_ros.actions.Node(
            package='robot_localization',
            node_executable='ekf_node',
            node_name='ekf_filter_node_map',
            output='screen',
            parameters=[os.path.join('/home/ubuntu/loc_nav_ws/src/turtle_localization/params', 'ekf_filter_map.yaml')],
        ),

        launch_ros.actions.Node(
            package='robot_localization',
            node_executable='navsat_transform_node',
            node_name='navsat_transform',
            output='screen',
            parameters=[os.path.join('/home/ubuntu/loc_nav_ws/src/turtle_localization/params', 'navsat_transform.yaml')],
            remappings=[("imu/data", "imu")]
        ),
    ])