Robot_localization unable to publish tf map  odom

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Hello everyone,

I am trying to set up robot_localization for my own robot. it’s a differential robot with jetson nano and ros melodic. It has Wheel Odometry, IMU and GPS When I fuse only Wheel Odometry and IMU, it’s work very well

And then I am running two instances of robot_localization ekf_local fuses only the imu (imu/data) and the wheel odometry (/odom) to provide the tf odom -- base_link ekf_global fuses the imu (imu/data), the wheel odometry (/odom) and the odometry from gps (/odometry/gps) to provide the tf map--odom

Unfortunately I can’t obtain the tf map --> odom

I have this error with roswtf

ERROR TF multiple authority contention:
 * node [/ekf_local] publishing transform [base_link] with parent [odom] already published by node [/ekf_global]
 * node [/ekf_global] publishing transform [base_link] with parent [odom] already published by node [/ekf_local]

It’s very clear but I have been searching for a long time for this problem but still have not found a solution. Now, I’m running out of ideas and that’s why I’m asking for help.

Thanks for advance for help

These are the main parameters of my configuration:

/odom

header: 
  seq: 2353
  stamp: 
    secs: 1621269914
    nsecs: 517945051
  frame_id: "odom"
child_frame_id: "base_link"
pose: 
  pose: 
position: 
  x: 1.42776163451
  y: 1.05459486876
  z: 0.0
orientation: 
  x: 0.0
  y: -0.0
  z: -0.969285642944
  w: -0.245937679876


 covariance: [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, 0.0, 0.0]

/imu/data

header: 
  seq: 23430
  stamp: 
    secs: 1621270028
    nsecs: 842851010
  frame_id: "imu"
orientation: 
  x: 0.0321049389572
  y: -0.0256961583669
  z: 0.862560831451



 w: 0.50427947845
orientation_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
angular_velocity: 
  x: 0.00555555555556
  y: 0.00555555555556
  z: -0.00111111111111
angular_velocity_covariance: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
linear_acceleration:



  x: -0.03
  y: 0.0
  z: -0.1

/odometry/filtered_global

header: 
  seq: 9837
  stamp: 
    secs: 1621270122
    nsecs: 593107462
  frame_id: "odom"
child_frame_id: "base_link"
pose: 
  pose: 


  position: 
  x: 3.1402834907
  y: -0.174301283379
  z: 0.363305654322

orientation:

  x: -0.0337846203609
  y: -0.0230412789275
  z: -0.733087734948
  w: 0.678903580608

/odometry/gps

header: 
  seq: 198
  stamp: 
    secs: 1621270660
    nsecs: 123980998
  frame_id: "odom"
child_frame_id: ''


  pose: 
  pose: 
position: 
  x: -47.288572479
  y: 34.9779323968
  z: 0.0

orientation: 
  x: 0.0
  y: 0.0
  z: 0.0
  w: 1.0

  covariance: [4.494400000000001, -6.32346808388906e-17, 0.0, 0.0, 0.0, 0.0, -1.3555156131737614e-16, 4.494400000000001, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 17.977600000000002, 0.0, 0.0, 0.0 ...