robot_localization with imu and encoder shaking odom->base transform

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Hi,

i am using robot_localization to merge imu and wheel encoder data and want it to publish the odom->base_footprint (2d projection of base_link) transform. I configured everything so far, but the transform starts to shake more and more the further the robot drives away from the start-point. The entire robot is simulated in gazebo.

The problem is very simillar to 290160 but it seems like the original author hasn't found a solution either back in 2018.

I would be thankful if anyone can help me out here.

EDIT: i just found out that gazebo is still publishing the odom transform even though i set the parameter publishOdom of the differential plugin to false. I only found this by refreshing my tf tree very fast and saw gazebo as the publisher every now and then.