odometry/filtered from robot_localization not matching orientation input from imu

edit

I'm doing 3D state estimation with r_l and having some trouble. I have 3 sensors that I'm fusing:

1. 2D wheel encoder based wheel odometry
2. zed camera odom, spews both xyz and rpy. seems like rpy is a little unreliable so I'm only using xyz
3. rpy from a relative imu

Looking at my fused data, my rpy appears to be all of the place and not using anything from the imu. In fact, I get the same results if I simply disable my imu0 in the r_l yaml file. What's going on with my data? Is the covariance of the imu too big such that the EKF is simply ignoring it?

here is my yaml file:

initial_state:  [0.0,  0.0,  0.59,
                 0.0,  0.0,  0,
                 0.0,  0.0,  0.0,
                 0.0,  0.0,  0.0,
                 0.0,  0.0,  0.0]
frequency: 10
two_d_mode: false

transform_time_offset: 0.2
transform_timeout: 0.0

print_diagnostics: false

debug: false

debug_out_file: /tmp/debug.txt

publish_tf: true

publish_acceleration: false
predict_to_current_time: true
map_frame: map              # Defaults to "map" if unspecified
odom_frame: odom            # Defaults to "odom" if unspecified
base_link_frame: base_link  # Defaults to "base_link" if unspecified
world_frame: odom          # Defaults to the value of odom_frame if unspecified

odom0: wheel_odom

#only use velocities from wheel_odom, abs val are erroneous due to slip. only vx,vy and vyaw
odom0_config: [false,  false, false,
             false,  false,  false,
             true, true, false,
              false, false, false,
             false, false, false]

odom0_queue_size: 5

odom0_differential: false

odom0_relative: false
use_control: false

#bottom facing VO camera

#using everything from vo for now
odom1: /camera_manager1/zed_node/odom
odom1_config: [true, true, true,
              false,false, false,
              false,false, false,
             false,false, false,
              false,false, false]
odom1_differential: false   
odom1_relative: false
#

imu0: /vectornav/IMU

#The IMU gives orientation, linear acceleration, and angular velocity
#use imu for velocity for vx,vy,vz, vrpy
imu0_config: [false, false, false,
            true, true,  true,
            false,  false,  false,
            false,  false,  false,
            false,  false,  false]

imu0_differential: false
imu0_relative: true

imu0_remove_gravitational_acceleration: true

bag is here: https://drive.google.com/file/d/10l0J...

wheel_odom:

header: 
  seq: 286175
  stamp: 
    secs: 1605734718
    nsecs: 849224511
  frame_id: "odom"
child_frame_id: "base_link"
pose: 
  pose: 
    position: 
      x: 1.26266401924
      y: -4.65020220554
      z: 0.572850814038
    orientation: 
      x: 0.0
      y: 0.0
      z: -0.914122786186
      w: 0.405437457292
  covariance: [0.025, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.025, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 3.14, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 3.14, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.11]
twist: 
  twist: 
    linear: 
      x: -0.0172806155128
      y: -0.0188698232587
      z: 0.0
    angular: 
      x: 0.0
      y: 0.0
      z: -0.0459902520252
  covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.025, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.0, 0.0 ...